JP2005061969A - Azimuthal angle measuring instrument and azimuthal angle measuring method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an azimuthal angle measuring instrument, a rotary angle measuring instrument, an azimuthal angle measuring program, a rotary angle measuring program, a rotary angle measuring program, an azimuthal angle measuring method, and a rotary angle measuring method, for accurately measuring an azimuthal angle independent of the place of measurement and suitable for cost reduction. <P>SOLUTION: Inclination angle data are calculated from triaxial earth magnetism data obtained when the azimuthal angle measuring instrument is set at a known inclination angle and from triaxial earth magnetism data obtained when the instrument is set at an inclination angle for an ordinarily used attitude. The angle data are used to correct an azimuthal angle. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an azimuth angle measuring device, a rotation angle measuring device, an azimuth angle measuring program, a rotation angle measuring program, an azimuth angle measuring method, and a rotation angle measuring method. In particular, the azimuth angle can be accurately measured regardless of the measurement location, and the azimuth angle measurement device, rotation angle measurement device, azimuth angle measurement program, rotation angle measurement program, azimuth angle measurement suitable for reducing costs The present invention relates to a method and a rotation angle measurement method.

FIG. 8 shows the geomagnetic component in the ground coordinate system (xg, yg, zg).
The ground coordinate axes xg, yg, and zg are oriented in the north-south direction, the east-west direction, and the vertical direction, respectively. A component and a geomagnetic component called a vertical component force, and a component parallel to the xg? Yg plane is called a horizontal component force. Further, an angle D formed between the horizontal component force and the xg axis is referred to as a declination, and an angle I formed between the geomagnetic total magnetic force M and the horizontal component force is referred to as a dip angle. In general, the north direction indicated by the compass is the direction of horizontal component force and is called magnetic north.

Conventionally, as a technique for measuring an azimuth angle, there are the following two azimuth angle measurement apparatuses.
The first azimuth measuring device includes a biaxial magnetic sensor that detects geomagnetic components in directions orthogonal to each other, places the azimuth measuring device on a horizontal plane, and calculates the azimuth based on the biaxial output obtained from the magnetic sensor. It comes to measure.
Next, the configuration of the second azimuth measuring device will be described with reference to FIGS.
FIG. 9 is a perspective view showing a magnetic sensor mounting structure in a conventional azimuth measuring device.

  In FIG. 9, the second azimuth measuring device includes an x-axis magnetic sensor HEx that detects a geomagnetic component in the x-axis direction with the vertical direction of the azimuth measuring device as the x-axis, and the horizontal direction of the azimuth measuring device as the y-axis. The y-axis magnetic sensor HEy for detecting the geomagnetic component in the y-axis direction and the z-axis magnetic sensor HEz for detecting the geomagnetic component in the z-axis direction with the thickness direction of the azimuth measuring device as the z-axis are provided. The x-axis magnetic sensor HEEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz are composed of Hall elements and the like, and are arranged so that each magnetosensitive surface is perpendicular to each axis, and the geomagnetic component in each axis direction is A sensor signal of a corresponding magnitude is output.

FIG. 10 is a perspective view showing a mounting structure of an inclination angle sensor in a conventional azimuth measuring device.
In FIG. 10, the second azimuth measuring device is provided with an inclination angle sensor 17 for detecting an inclination angle η of the y axis with respect to the xg? Yg plane and an inclination angle φ of the x axis with respect to the xg? Yg plane, The tilt angle sensor 17 outputs a sensor signal having a magnitude corresponding to the tilt angle η and a sensor signal having a magnitude corresponding to the tilt angle φ.
FIG. 11 is a block diagram showing a configuration of a conventional azimuth measuring device.
In FIG. 11, the second azimuth measuring device includes a triaxial magnetic sensor 11, a magnetic sensor drive power supply unit 12, a multiplexer unit 13, a magnetic sensor amplification unit 14, a magnetic sensor A / D conversion unit 15, and sensitivity / offset correction. A unit 16, an inclination angle sensor 17, an inclination angle sensor amplification unit 18, an inclination angle sensor A / D conversion unit 19, a measurement data correction unit 20, and an azimuth angle calculation unit 21 are provided.

The three-axis magnetic sensor 11 is provided with an x-axis magnetic sensor HEEx, a y-axis magnetic sensor HEy, and a z-axis magnetic sensor HEz.
The multiplexer unit 13 is for switching between the x-axis magnetic sensor HEEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz. The multiplexer unit 13 converts the drive voltage output from the magnetic sensor drive power supply unit 12 into the x-axis magnetic sensor HEEx, The sensor signals applied to the y-axis magnetic sensor HEy and the z-axis magnetic sensor HEz, respectively, and output from the x-axis magnetic sensor HEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz are time-divided to the magnetic sensor amplifier 14. Output.

The magnetic sensor A / D converter 15 A / D converts sensor signals from the x-axis magnetic sensor HEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz, and converts the converted digital data into x-axis geomagnetic measurement data, The y-axis geomagnetism measurement data and the z-axis geomagnetism measurement data are output to the sensitivity / offset correction unit 16.
The sensitivity / offset correction unit 16 is based on the x-axis geomagnetism measurement data, the y-axis geomagnetism measurement data, and the z-axis geomagnetism measurement data from the magnetic sensor A / D conversion unit 15, and the x-axis magnetic sensor HEx and the y-axis magnetic sensor HEy. The offset and sensitivity correction coefficient of the z-axis magnetic sensor HEz are calculated, and the x-axis geomagnetic measurement data, the y-axis geomagnetic measurement data, and the z-axis geomagnetic measurement data are corrected based on the calculated offset and sensitivity correction coefficient.

The tilt angle sensor A / D conversion unit 19 A / D converts the sensor signal from the tilt angle sensor 17 and outputs the converted digital data to the measurement data correction unit 20 as tilt angle measurement data.
The measurement data correction unit 20 is based on the tilt angle measurement data from the tilt angle sensor A / D conversion unit 19, and x-axis geomagnetism measurement data, y-axis geomagnetism measurement data, and z-axis geomagnetism measurement from the sensitivity / offset correction unit 16. Correct the data.

The azimuth calculation unit 21 calculates the azimuth based on the x-axis geomagnetic measurement data, the y-axis geomagnetic measurement data, and the z-axis geomagnetic measurement data from the measurement data correction unit 20.
As a technique close to the second azimuth measuring device, for example, there is an azimuth output device disclosed in Patent Document 1.
The azimuth | direction output apparatus of patent document 1 is the azimuth | direction where the measurement error by the non-horizontal state was corrected using geomagnetic information X, Y, Z from a three-dimensional geomagnetic sensor, and inclination amount (alpha), (beta) detected by the inclination sensor. θmg is calculated. Further, the true direction θtr is calculated using the declination value D from the declination value output unit, and the calculated true direction θtr is presented.

Thereby, it is possible to perform azimuth measurement without an error due to tilt even in a non-horizontal state and to present a true azimuth.
Moreover, the invention of patent document 2, the invention of patent document 3, and the invention of patent document 4 are proposed as information using the magnitude | size of the geomagnetism of a measurement area | region, and the information of a dip.
JP-A-8-278137 JP 63-027711 A JP 2003-156335 A JP 2003-166825 A

However, in the conventional first azimuth measuring device, it is necessary to place the azimuth measuring device on a horizontal plane, and therefore, the problem that the azimuth angle cannot be accurately measured in a place where the level cannot be secured. was there.
In the second conventional azimuth measuring device, it is not necessary to place the azimuth measuring device on a horizontal plane, but instead, it is necessary to measure the inclination angles η and φ of the azimuth measuring device. An inclination angle sensor 17, an inclination angle sensor amplification unit 18, and an inclination angle sensor A / D conversion unit 19 are provided. Therefore, there is a problem that the cost increases.
Therefore, the present invention can accurately measure the azimuth angle regardless of the measurement location, and is suitable for reducing costs. An azimuth angle measurement device, a rotation angle measurement device, an azimuth angle measurement program, and a rotation angle measurement program. An object of the present invention is to provide an azimuth angle measurement method and a rotation angle measurement method.

The following invention is provided to solve the above-mentioned conventional problems.
The azimuth angle measuring apparatus according to claim 1 of the present invention is a triaxial geomagnetism detection unit that detects geomagnetic components in directions orthogonal to each other, and the tilt angle of the geomagnetism detection unit is the first tilt angle. The attitude state of the geomagnetism detection means is different from the first inclination angle while the attitude state of the geomagnetism detection means is the first attitude state, and the azimuth angle of the geomagnetism detection means in the first attitude state is fixed. The first triaxial output data detected by the geomagnetic detection means in the first posture state, and the second triaxial output data, wherein the posture state of the geomagnetism detection means at the second inclination angle is set as a second posture state, and the second An angle difference calculating means for calculating an angle difference between the first inclination angle and the second inclination angle based on the second three-axis output data detected by the geomagnetic detection means in the posture state; The first tilt angle; and Based on the angle difference calculated by the angle difference calculating means, the inclination angle calculating means for calculating the second inclination angle, the second inclination angle, and the second triaxial output data. Azimuth angle calculating means for calculating the azimuth angle of the geomagnetism detecting means.

  With such a configuration, for example, when the user measures the azimuth by holding the azimuth measuring device in his hand, the geomagnetism components in the directions orthogonal to each other are detected by the geomagnetism detection means. The attitude state of the azimuth measuring apparatus in which the inclination angle of the azimuth measuring apparatus is the first inclination angle is set to the first attitude state, and the azimuth angle of the azimuth measuring apparatus in the first attitude state is fixed. When the attitude state of the azimuth measuring apparatus in which the inclination angle of the measuring apparatus is a second inclination angle different from the first inclination angle is set to the second attitude state, the geomagnetism in the first attitude state is detected by the geomagnetism detecting means. First triaxial output data as a component and second triaxial output data as a geomagnetic component in the second posture state are detected. Next, an angle difference between the first inclination angle and the second inclination angle is calculated by the angle difference calculation means based on the first three-axis output data and the second three-axis output data. Next, the second tilt angle is calculated by the tilt angle calculation means based on the first tilt angle and the angle difference. Finally, the azimuth calculation means calculates the azimuth angle of the geomagnetism detection means in the second posture state, that is, the azimuth angle of the azimuth measurement device, based on the second tilt angle and the second triaxial output data. Calculated.

  The azimuth angle measuring apparatus according to claim 2 of the present invention is a triaxial geomagnetism detecting means for detecting geomagnetic components in directions orthogonal to each other, and the tilt angle of the geomagnetism detecting means is a first tilt angle. The attitude state of the geomagnetism detection means is the first attitude state, and the first azimuth angle of the geomagnetism detection means in the first attitude state is fixed, and the tilt angle of the geomagnetism detection means is the first attitude state. The posture state of the geomagnetism detecting means having a second tilt angle different from the tilt angle is set as a second posture state, and the second tilt angle of the geomagnetism detecting means in the second posture state is fixed. The first three axes detected by the geomagnetism detection means in the first attitude state, with the attitude state of the geomagnetism detection means having a second azimuth angle different from the first azimuth as a third attitude state. Output data, and An angle difference calculating means for calculating an angle difference between the first inclination angle and the second inclination angle based on the second three-axis output data detected by the geomagnetism detecting means in the posture state of An inclination angle calculating means for calculating the second inclination angle based on the first inclination angle and the angle difference calculated by the angle difference calculating means; and the geomagnetic detection in the third posture state. Based on the third triaxial output data detected by the means or detected by the geomagnetism detecting means in the second posture state and the second inclination angle, the second of the geomagnetism detecting means. Azimuth angle calculating means for calculating the azimuth angle or the first azimuth angle.

  With such a configuration, for example, when the user measures the azimuth by holding the azimuth measuring device in his hand, the geomagnetism components in the directions orthogonal to each other are detected by the geomagnetism detection means. The attitude state of the azimuth measuring apparatus in which the inclination angle of the azimuth measuring apparatus is the first inclination angle is set to the first attitude state, and the azimuth angle of the azimuth measuring apparatus in the first attitude state is fixed. The attitude state of the azimuth measuring apparatus in which the inclination angle of the measuring apparatus is a second inclination angle different from the first inclination angle is defined as the second attitude state, and the second azimuth measuring apparatus in the second attitude state When the posture state of the azimuth measuring device that becomes the second azimuth angle different from the first azimuth angle is set to the third posture state with the tilt angle fixed, the geomagnetism detection means causes First triaxial output data that is a geomagnetic component and second triaxial output data that is a geomagnetic component in the second posture state are detected. Next, an angle difference between the first inclination angle and the second inclination angle is calculated by the angle difference calculation means based on the first three-axis output data and the second three-axis output data. Next, the second tilt angle is calculated by the tilt angle calculation means based on the first tilt angle and the angle difference. Next, the geomagnetic component in the third posture state is detected or the geomagnetic component in the second posture state is detected again as the third three-axis output data by the geomagnetic detection means. Finally, the second azimuth angle or the first azimuth angle of the geomagnetism detecting means, that is, the first azimuth angle measuring device based on the second tilt angle and the third triaxial output data by the azimuth angle calculating means. Two azimuth angles or first azimuth angles are calculated.

  According to a third aspect of the present invention, there is provided a rotation angle measuring device according to the present invention, comprising a three-axis magnetic detection means for detecting magnetic components in directions orthogonal to each other and three or more different rotations rotated about a single straight axis Rotation angle calculation means for calculating rotation angle data of the rotation and the rotation axis based on three or more different three-axis output data detected by the magnetic detection means in the posture state of the magnetic detection means; It is characterized by having.

  With such a configuration, for example, when the user measures the environmental magnetic field while holding the rotation angle measurement device, magnetic components in directions orthogonal to each other are detected by the magnetic detection means. The magnetic detection means detects three or more different three-axis output data in three or more different posture states. Then, the rotation angle data and the rotation axis of rotation are calculated based on three or more different three-axis output data by the rotation angle calculation means.

  According to a fourth aspect of the present invention, there is provided a rotation angle measuring apparatus comprising: a three-axis magnetic detection unit that detects magnetic components in directions perpendicular to each other; and a first posture state of the magnetic detection unit, A coordinate system of the magnetic detection means for detecting a component, and the first posture state rotated around one coordinate axis of a three-axis coordinate system in which the relative relationship between the three coordinate axes and the coordinate origin is known; A different posture state of the magnetic detection means is set to a second posture state, the first three-axis output data detected by the magnetic detection means in the first posture state, and the magnetism in the second posture state. Rotation angle calculation means for calculating the rotation angle data of the rotation and the rotation axis based on second triaxial output data different from the first triaxial output data detected by the detection means. It is characterized by being That.

  With such a configuration, for example, when the user measures the azimuth while holding the rotation angle measurement device in hand, the magnetic components in the directions orthogonal to each other are detected by the magnetic detection means. The first posture state of the rotation angle measuring device is expressed by a coordinate system of a magnetic detection means for detecting a magnetic component, and one coordinate axis of a three-axis coordinate system in which the relative relationship between the three coordinate axes and the coordinate origin is known. When the posture state of the rotation angle measuring device different from the first posture state rotated as the rotation axis is set to the second posture state, the first three axes which are magnetic components in the first posture state are detected by the magnetic detection means. Second triaxial output data different from the first triaxial output data which is the output data and the magnetic component in the second posture state is detected. Then, the rotation angle calculation means calculates rotation angle data and a rotation axis based on the first three-axis output data and the second three-axis output data.

  An azimuth angle measurement program according to claim 5 of the present invention is a program for causing a computer that can use a three-axis geomagnetism detecting means for detecting geomagnetic components in directions orthogonal to each other to be executed. The geomagnetic detection means having the first inclination angle of the geomagnetic detection means is set to a first attitude state, and the geomagnetism detection means in the first attitude state is fixed with the azimuth angle fixed. Detected by the geomagnetism detection means in the first attitude state, with the attitude state of the geomagnetism detection means having a second inclination angle different from the first inclination angle as the second attitude state. The first three-axis output data and the second three-axis output data detected by the geomagnetic detection means in the second posture state are used to determine the first inclination angle and the second Based on the angle difference calculating means for calculating the angle difference between the oblique angle, the first inclination angle, and the angle difference calculated by the angle difference calculating means, the second inclination angle is calculated. The computer performs processing for realizing an inclination angle calculation means, and an azimuth angle calculation means for calculating an azimuth angle of the geomagnetism detection means based on the second inclination angle and the second three-axis output data. It is a program for executing.

If it is such a structure, if a computer reads a program and a computer will perform a process by the read program, the effect | action equivalent to the azimuth measuring apparatus of Claim 1 which concerns on this invention will be acquired.
An azimuth angle measurement program according to claim 6 of the present invention is a program for causing a computer that can use a three-axis geomagnetism detection unit that detects geomagnetic components in directions orthogonal to each other to be executed. The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means becomes the first inclination angle is set as the first attitude state, and the first azimuth angle of the geomagnetism detection means in the first attitude state is fixed. The geomagnetic detection means in which the inclination angle of the geomagnetism detection means becomes a second inclination state where the inclination angle of the geomagnetism detection means becomes a second inclination angle different from the first inclination angle, and the geomagnetism detection in the second attitude state is performed. While the second inclination angle of the means is fixed, the attitude state of the geomagnetism detecting means that becomes a second azimuth angle different from the first azimuth angle is defined as a third attitude state, and the first attitude state Above Based on the first triaxial output data detected by the magnetic detection means and the second triaxial output data detected by the geomagnetic detection means in the second posture state, the first inclination angle and the An angle difference calculating means for calculating an angle difference between the second inclination angle, the first inclination angle, and the second inclination angle based on the angle difference calculated by the angle difference calculating means. Tilt angle calculation means for calculating the third triaxial output data detected by the geomagnetism detection means in the third posture state or detected by the geomagnetism detection means in the second posture state, And the azimuth angle calculating means for calculating the second azimuth angle or the first azimuth angle of the geomagnetism detecting means based on the second tilt angle, for causing the computer to execute a process for realizing the azimuth angle calculating means for calculating the first azimuth angle. program Characterized in that there.

If it is such a structure, when a program will be read by computer and a computer will perform a process by the read program, the effect | action equivalent to the azimuth measuring apparatus of Claim 2 which concerns on this invention will be acquired.
A rotation angle measurement program according to a seventh aspect of the present invention is a program for causing a computer that can use a three-axis magnetic detection means for detecting magnetic components in directions orthogonal to each other to be executed. Rotation angle data of the rotation based on three or more different three-axis output data detected by the magnetic detection means in the posture state of three or more different magnetic detection means rotated about one straight line as a rotation axis And a program for causing the computer to execute processing for realizing a rotation angle calculation means for calculating the rotation axis.

If it is such a structure, when a program will be read by computer and a computer will perform a process with the read program, the effect | action equivalent to the rotation angle measuring device of Claim 3 which concerns on this invention will be acquired.
An azimuth angle measuring method according to claim 8 of the present invention is a program for causing a computer that can use a three-axis magnetic detection means for detecting magnetic components in directions orthogonal to each other to be executed, and The first posture state of the magnetic detection means is defined as one coordinate axis of a coordinate system of the magnetic detection means for detecting the magnetic component, a three-axis coordinate system in which the relative relationship between the three coordinate axes and the coordinate origin is known. The first attitude state detected by the magnetic detection means in the first attitude state is defined as the attitude state of the magnetic detection means different from the first attitude state rotated about the rotation axis. Based on the output data and the second three-axis output data different from the first three-axis output data detected by the magnetic detection means in the second posture state, the rotation angle data and the rotation of the rotation Characterized in that it is a program for executing a process to realize the rotation angle calculating means for calculating the computer.

If it is such a structure, when a program will be read by computer and a computer will perform a process by the read program, the effect | action equivalent to the rotation angle measuring device of Claim 4 which concerns on this invention will be acquired.
The azimuth angle measuring method according to claim 9 of the present invention uses a triaxial geomagnetic detection means for detecting geomagnetic components in directions orthogonal to each other, and the inclination angle of the geomagnetism detection means is the first. The posture state of the geomagnetism detecting means that becomes the tilt angle is set to the first posture state, and the tilt angle of the geomagnetism detecting means is set to the first posture while the azimuth angle of the geomagnetism detecting means in the first posture state is fixed. A first triaxial output data is acquired by the geomagnetism detection means in the first attitude state, with the attitude state of the geomagnetism detection means having a second inclination angle different from the inclination angle as a second attitude state. The three-axis output data acquisition step, the second three-axis output data acquisition step of acquiring the second three-axis output data by the geomagnetic detection means in the second posture state, the first three-axis output data, And the second three-axis output An angle difference calculating step for calculating an angle difference between the first inclination angle and the second inclination angle based on the data, the first inclination angle, and the angle difference based on the first inclination angle. An inclination angle calculating step of calculating an inclination angle of 2, and an azimuth angle calculating step of calculating an azimuth angle of the geomagnetism detecting means based on the second inclination angle and the second three-axis output data. It is characterized by having.

  According to a tenth aspect of the present invention, there is provided an azimuth angle measuring method according to the present invention, wherein a triaxial geomagnetic detection means for detecting geomagnetic components in directions orthogonal to each other is used, and the inclination angle of the geomagnetism detection means is the first. The geomagnetic detection means having an inclination angle is set to a first attitude state, and the geomagnetic detection means has an inclination angle of the geomagnetism detection means while the first azimuth angle of the geomagnetism detection means in the first attitude state is fixed. The attitude state of the geomagnetism detecting means having a second inclination angle different from the first inclination angle is set as a second attitude state, and the second inclination angle of the geomagnetism detecting means in the second attitude state is fixed. The first triaxial output is output by the geomagnetism detection means in the first attitude state, with the attitude state of the geomagnetism detection means having a second azimuth angle different from the first azimuth angle as the third attitude state. First to get data An axis output data acquisition step, a second 3-axis output data acquisition step of acquiring second 3-axis output data by the geomagnetism detecting means in the second posture state, the first 3-axis output data, and the An angle difference calculating step of calculating an angle difference between the first inclination angle and the second inclination angle based on second triaxial output data, the first inclination angle, and the angle difference Based on the inclination angle calculation step of calculating the second inclination angle, and the third magnetic axis detection means in the third posture state acquires the third three-axis output data, or the second posture state Based on the third triaxial output data acquisition step of acquiring the third triaxial output data again by the geomagnetic detection means, the second inclination angle, and the third triaxial output data, the geomagnetic detection The second azimuth of the means or the first azimuth And azimuth angle calculation step of calculating, characterized in that it comprises a.

An azimuth angle measuring method according to claim 11 according to the present invention is the azimuth angle measuring apparatus according to claim 9 or 10 according to the present invention, wherein the first inclination angle is relative to the ground coordinate system. 0 degrees, 90 degrees, 180 degrees, 270 degrees, approximately 0 degrees, approximately 90 degrees, approximately 180 degrees, or approximately 270 degrees.
According to a twelfth aspect of the present invention, there is provided a rotational angle measuring method according to the twelfth aspect of the present invention, using three axes of magnetic detection means for detecting magnetic components in directions orthogonal to each other and rotating three straight axes as a rotational axis. A three-axis output data acquisition step of acquiring three or more different three-axis output data detected by the magnetic detection means in the different posture states of the magnetic detection means, and three or more different three axes And a rotation angle calculation step of calculating the rotation angle data of the rotation and the rotation axis based on the output data.

  According to a thirteenth aspect of the present invention, there is provided a rotational angle measuring method according to the present invention, wherein the first posture state of the magnetic detection means is determined using a triaxial magnetic detection means for detecting magnetic components in directions orthogonal to each other. The first coordinate system is rotated about one coordinate axis of a coordinate system of the magnetic detection means for detecting the magnetic component and a three-axis coordinate system in which the relative relationship between the coordinate axes of the three axes and the coordinate origin is known. A first three-axis output data acquisition step of acquiring a first three-axis output data by the magnetic detection unit in the first posture state, wherein the posture state of the magnetic detection unit different from the posture state is set as a second posture state. A second three-axis output data acquisition step of acquiring second three-axis output data different from the first three-axis output data by the magnetic detection means in the second posture state, and the first three Axis output data and the second three axes Based on the force data, and characterized in that it comprises a rotation angle calculating step of calculating the rotation angle data and the rotation axis of the rotation.

  As an effect of the present invention, according to the azimuth measuring device of the present invention, it is only necessary to measure the geomagnetism at two tilt angles, so that the azimuth can be measured relatively accurately regardless of the measurement location. An effect is obtained. In addition, since it is not necessary to provide an inclination angle sensor, an inclination angle sensor amplifying unit, and an inclination angle sensor A / D conversion unit, an effect that costs can be reduced is also obtained.

An embodiment of the present invention will be described with reference to the drawings.
An embodiment of an azimuth measuring device, an azimuth measuring program, and an azimuth measuring method according to the present invention will be described with reference to FIGS.
FIG. 1 is a perspective view showing a mounting structure of a magnetic sensor in an azimuth measuring apparatus 100 according to the present invention.
As shown in FIG. 1, the azimuth measuring device 100 includes an x-axis magnetic sensor HEx that detects a geomagnetic component in the x-axis direction with the vertical direction of the azimuth measuring device 100 as the x-axis, and the lateral direction of the azimuth measuring device 100. A y-axis magnetic sensor HEy that detects the geomagnetic component in the y-axis direction as the y-axis and a z-axis magnetic sensor HEz that detects the geomagnetic component in the z-axis direction with the thickness direction of the azimuth measuring device 100 as the z-axis are provided. . The x-axis magnetic sensor HEEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz are composed of Hall elements and the like, and are arranged so that each magnetosensitive surface is perpendicular to each axis, and the geomagnetic component in each axis direction is A sensor signal of a corresponding magnitude is output.

FIG. 2 is a diagram showing a posture state of the azimuth measuring apparatus 100 according to the present invention.
As shown in FIG. 2, when the ground coordinate system is (xg, yg, zg) and the three-axis coordinate system of the azimuth measuring device 100 (hereinafter referred to as the measuring device coordinate system) is (x, y, z). The attitude state of the azimuth measuring apparatus 100 is represented by an inclination angle α, an inclination angle η, and an azimuth angle θ.
Here, assuming that the measurement device coordinate system and the ground coordinate system match first, the azimuth angle measurement device 100 is first left around the z axis of the measurement device coordinate system, looking at the origin from the z-axis positive direction. Rotate around the y axis of the measuring device coordinate system, then rotate it around the y axis in the positive direction of the y axis and rotate it clockwise by the angle α, and finally around the x axis of the measuring device coordinate system In addition, when the origin is viewed from the x-axis positive direction and rotated counterclockwise by an angle η, θ is referred to as an azimuth angle, and α and η are referred to as inclination angles.

The azimuth angle θ is an angle formed by an axis formed by projecting the xg axis of the ground coordinate system and the x axis of the measurement apparatus coordinate system onto the zg-yg plane of the ground coordinate system, and the inclination angle α is the x of the measurement apparatus coordinate system. The angle formed between the axis projected on the zg-yg plane of the ground coordinate system and the x axis, and the inclination angle η is a rotation angle from a predetermined reference position around the x axis.
Here, the azimuth measuring device 100 is rotated (−α) around the y-axis of the measuring device coordinate system, and the xy plane of the measuring device coordinate system matches the xg-yg plane of the ground coordinate system. Sometimes, the azimuth measuring device 100 is a reference position.

FIG. 3 is a block diagram showing a configuration of the azimuth measuring apparatus 100 according to the present invention.
As shown in FIG. 3, the azimuth measuring apparatus 100 includes a three-axis magnetic sensor 31, a magnetic sensor drive power supply unit 32, a multiplexer unit 33, a magnetic sensor amplification unit 34, a magnetic sensor A / D conversion unit 35, a sensitivity / offset. A correction unit 36, an inclination angle information calculation unit 37, an inclination angle information storage unit 38, an inclination angle correction calculation unit 39, and an azimuth angle calculation unit 40 are provided.

The triaxial magnetic sensor 31 is provided with an x axis magnetic sensor HEEx, a y axis magnetic sensor HEy, and a z axis magnetic sensor HEz.
The multiplexer unit 33 is for switching between the x-axis magnetic sensor HEEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz. The multiplexer 33 converts the drive voltage output from the magnetic sensor drive power supply unit 32 into the x-axis magnetic sensor HEEx, The sensor signals that are applied to the y-axis magnetic sensor HEy and the z-axis magnetic sensor HEz, respectively, and output from the x-axis magnetic sensor HEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz are time-divided to the magnetic sensor amplifier 34. Output.

The magnetic sensor amplifier 34 amplifies sensor signals from the x-axis magnetic sensor HEEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz and outputs the amplified signal to the magnetic sensor A / D converter 35.
The magnetic sensor A / D conversion unit 35 performs A / D conversion on the sensor signals from the x-axis magnetic sensor HEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz amplified by the magnetic sensor amplification unit 34, and converts the converted digital signal. The data is output to the sensitivity / offset correction unit 36 as x-axis geomagnetic measurement data, y-axis geomagnetic measurement data, and z-axis geomagnetic measurement data, respectively.

  The sensitivity / offset correction unit 36 is based on the x-axis geomagnetism measurement data, the y-axis geomagnetism measurement data, and the z-axis geomagnetism measurement data from the magnetic sensor A / D conversion unit 35, and the x-axis magnetic sensor HEx and the y-axis magnetic sensor HEy. The offset and sensitivity correction coefficient of the z-axis magnetic sensor HEz are calculated, and the x-axis geomagnetic measurement data, the y-axis geomagnetic measurement data, and the z-axis geomagnetic measurement data are corrected based on the calculated offset and sensitivity correction coefficient.

The tilt angle information calculation unit 37 calculates an angle difference Δα from the reference tilt angle based on the x-axis geomagnetic measurement data, the y-axis geomagnetic measurement data, and the z-axis geomagnetic measurement data from the sensitivity / offset correction unit 36. The inclination angle α is calculated based on the calculated angle difference Δα and the reference inclination angle, and the inclination angle information indicating the calculated inclination angle α is stored in the inclination angle information storage unit 38.
The tilt angle correction calculation unit 39 corrects the x-axis geomagnetic measurement data, the y-axis geomagnetic measurement data, and the z-axis geomagnetic measurement data from the sensitivity / offset correction unit 36 based on the tilt angle information in the tilt angle information storage unit 38. .

The azimuth angle calculation unit 40 calculates the azimuth angle θ based on the x-axis geomagnetic measurement data, the y-axis geomagnetic measurement data, and the z-axis geomagnetic measurement data from the tilt angle correction calculation unit 39.
Next, details of a method for calculating the angle difference Δα, the inclination angle α, and the azimuth angle θ will be described with reference to FIGS.
FIG. 4 is a diagram for determining the posture state of the azimuth measuring apparatus 100.
As shown in FIG. 4, in the azimuth measuring apparatus 100, the attitude state of the azimuth measuring apparatus is determined by the azimuth angle θ and the inclination angle α. Note that the y-axis is always parallel to the xg? Yg plane, and the x-axis and zg-axis are parallel when the tilt angle α is 90 °. Then, between the ground coordinate system (xg, yg, zg) and the measuring device coordinate system (x, y, z), coordinates as shown in the following formula (1) are excluded, except for the translation component due to the difference in the origin. The conversion formula is established.

  Further, the components Mxg, Myg, Mzg of the ground coordinate system of the geomagnetic total magnetic force M described in FIG. 8 are expressed by the following equations (2), (3), and (4).

Therefore, the components M _x , M _y , M _z of the measuring device coordinate system of the geomagnetic total magnetic force M, that is, the three-axis output data M _x , M _y , M _z of the three-axis magnetic sensor 31 are expressed by the following equation (5): It is represented by (6) and (7).

Here, as shown in FIG. 4, with the azimuth angle θ fixed, geomagnetism is measured at a known tilt angle α ₀ and tilt angle α ₁ at which the azimuth angle is desired to be measured. The component data in the three-axis directions obtained by the geomagnetism measurement at the known tilt angle α ₀ is set as geomagnetism measurement data M _x0 , M _y0 , M _z0 , and the azimuth angle θ is measured by the geomagnetism measurement at the tilt angle α ₁ to be measured. The obtained triaxial component data is represented as geomagnetic measurement data M _x1 , M _y1 , M _z1 .

As described above, the operation of changing the attitude state of the azimuth angle measuring apparatus 100 from the inclination angle α ₀ to the inclination angle α ₁ while fixing the azimuth angle θ is a straight line parallel to the y axis and passing through the origin. The rotation operation around this rotation axis. That is, this rotation operation changes the components in the x direction and the z direction, but does not change the component in the y direction.
FIG. 5 is a diagram illustrating an example of an operation for changing the posture state of the azimuth measuring apparatus 100.

As shown in FIG. 5, an operation for changing the posture state of the azimuth measuring device 100 can be easily performed by changing the elbow angle while the user is facing a certain direction. Further, a more practical operation is to start the azimuth measuring device 100 from a horizontal posture state, and to bring the operation screen of the azimuth measuring device 100 to an angle that is easy for the user to see, the posture state of the azimuth measuring device 100 It is an operation to change.
If the angle difference Δα between the two different inclination angles α ₀ and α ₁ described above is Δα = α ₁ −α ₀ , the geomagnetic measurement data M _x0 , M _y0 , M _z0 and the geomagnetic measurement The data M _x1 , M _y1 , and M _z1 satisfy the following expression (8).

That is, when the formula (8) is transformed, the following formulas (9) and (10) are obtained.

Therefore, the angle difference Δα can be obtained from the equations (9) and (10).
Further, the inclination angle α ₁ is obtained based on the angle difference Δα and the known inclination angle α ₀ by the following equation (11).

With respect to the geomagnetism measurement data M _x , M _y , M _z when the azimuth measuring device 100 faces the direction to be measured while the inclination angle α (= α ₁ ) calculated by the above-described method is fixed, According to the equation (12), the geomagnetic measurement data M _x ′, M _y ′, M _z ′ corrected for the tilt angle can be obtained.

By substituting the equations (5), (6), and (7) into the equation (12), the following equations (13), (14), and (15) are obtained.

Therefore, the azimuth angle (θ−D), that is, the azimuth angle θ based on the magnetic north direction can be obtained by the following equation (16).

次に、本実施の形態の動作を説明する。
図５に示すように、方位角計測装置１００の方位角θ（またはθ?Ｄ）を測定する場合、ユーザは方位角計測装置１００を手に持って、傾斜角情報取得の開始の操作を行なう。まず、ユーザは肘を角度α₀にすることによって、方位角計測装置１００の姿勢状態を、既知(例えば水平)の傾斜角α₀に固定し、既知の傾斜角α₀を方位角計測装置１００に入力し、地磁気の測定を行なう。測定によって得られた地磁気測定データＭ_ｘ0，Ｍ_ｙ0，Ｍ_ｚ0は、図１の傾斜角情報算出部３７へ送られる。また、入力された傾斜角α₀は、傾斜角情報記憶部３８に記憶される。

Next, the operation of the present embodiment will be described.
As shown in FIG. 5, when measuring the azimuth angle θ (or θ? D) of the azimuth measuring device 100, the user holds the azimuth measuring device 100 in his hand and performs an operation of starting the acquisition of the tilt angle information. . First, the user fixes the posture state of the azimuth measuring device 100 to a known (eg, horizontal) tilt angle α ₀ by setting the elbow to an angle α ₀ , and the known tilt angle α _{0 is set} to the azimuth measuring device 100. To measure geomagnetism. The geomagnetic measurement data M _x0 , M _y0 , and M _z0 obtained by the measurement are sent to the tilt angle information calculation unit 37 in FIG. Further, the input tilt angle α ₀ is stored in the tilt angle information storage unit 38.

Next, as shown in FIG. 5, the user changes the elbow to the angle α ₁ , so that the orientation state of the azimuth measuring apparatus 100 is fixed while the azimuth when the tilt angle α ₀ is measured is fixed. The angle is fixed to the inclination angle α ₁ (usually the posture state in which the azimuth angle θ is measured) and the geomagnetism is measured. The geomagnetic measurement data M _x1 , M _y1 , and M _z1 obtained by the measurement are sent to the tilt angle information calculation unit 37 in FIG.

Next, the tilt angle information calculation unit 37 uses the above-described equations (9) and (10) to obtain the geomagnetic measurement data M _x0 , M _y0 , M _z0 obtained at the known tilt angle α ₀ , and the direction Based on the geomagnetic measurement data M _x1 , M _y1 , and M _z1 obtained at the inclination angle α ₁ at which the angle θ is to be measured, the angle difference Δα between the inclination angles is calculated, and a known inclination is obtained using equation (11). The inclination angle α ₁ is calculated based on the angle α ₀ and the angle difference Δα between the inclination angles. The tilt angle α ₀ that is the calculated tilt angle information is stored in the tilt angle storage unit 38. Here, the azimuth measuring device 100 displays a notification that the tilt angle information has been obtained, and the azimuth angle θ at the tilt angle α (= α ₁ ) to be measured can be measured.

Next, when measuring the azimuth angle θ, the user rotates the height direction axis passing through the elbow while the elbow is fixed at the inclination angle α (= α ₁ ), and the above azimuth angle θ is set. The azimuth measuring device 100 is positioned in the direction to be measured, and an operation for starting the azimuth measurement is performed. First, when geomagnetism is measured, the obtained geomagnetism measurement data M _x , M _y , and M _z are sent to the tilt angle correction calculation unit 39 shown in FIG. Here, the geomagnetic measurement data M _x1 , M _y1 and M _z1 measured at the second inclination angle α ₁ can be used as they are. At this time, it is not necessary to measure geomagnetism. Next, the inclination angle correction calculation unit 39 calculates the geomagnetic measurement data M _x ′, M _y ′, and M _z ′ corrected for the inclination angle by the above equation (12), and the azimuth angle calculation unit 40 of FIG. Sent. The azimuth angle θ is calculated by the azimuth angle calculation unit 40 using the above equation (16).

Thus, in this embodiment, the user is held in the hand of the azimuth measuring device 100, by changing the angle of the elbow, and the known tilt angle alpha _0, in the inclination angle alpha ₁ Tokyo to be measured azimuth Geomagnetic measurement data is acquired from the triaxial magnetic sensor 31, the angle difference Δα of the inclination angle is calculated, and the inclination angle α ₁ is calculated based on the calculated angle difference Δα and the inclination angle α ₀ . Then, while the elbow is fixed at the inclination angle α (= α ₁ ), the user rotates around the height direction axis passing through the elbow, and acquires the geomagnetic measurement data from the triaxial magnetic sensor 31 again. The azimuth angle θ is calculated based on α. Here, when the geomagnetic measurement data M _x1 , M _y1 , and M _z1 measured at the tilt angle α ₁ are used as they are, the geomagnetic measurement data is not acquired from the triaxial magnetic sensor 31 again, and the tilt angle α (= The azimuth angle θ is calculated based on α ₁ ).

As a result, the attitude state of the azimuth measuring device 100 is changed while the angle θ between the xg axis of the ground coordinate system and the axis projected on the xg-yg plane of the ground coordinate system is fixed. The inclination angle α can be measured simply by making it.
In the embodiment of the azimuth measuring device, the azimuth measuring program, and the azimuth measuring method described above, the three-axis magnetic sensor 31 is a geomagnetism detecting unit according to claim 1, 2, 5, 6, 9, or 10. Correspondingly, the tilt angle information calculating unit 37 corresponds to the angle difference calculating unit and the tilt angle calculating unit according to claim 1, 2, 5 or 6, and the azimuth calculating unit 40 is set to claim 1, 2, 5 or 6. Or it corresponds to the azimuth calculating means described in 6.

Next, an embodiment of a rotation angle measurement device, a rotation angle measurement program, and a rotation angle measurement method will be described with reference to FIG.
FIG. 6 is a block diagram showing the configuration of the rotation angle measuring apparatus 200 according to the present invention.
As shown in FIG. 6, the rotation angle measuring apparatus 200 includes a three-axis magnetic sensor 51, a magnetic sensor drive power supply unit 52, a multiplexer unit 53, a magnetic sensor amplification unit 54, a magnetic sensor A / D conversion unit 55, sensitivity / offset correction. A unit 56 and a rotation angle calculation unit 57 are provided.

The triaxial magnetic sensor 51 is provided with an x axis magnetic sensor HEEx, a y axis magnetic sensor HEy, and a z axis magnetic sensor HEz.
The multiplexer unit 53 is for switching between the x-axis magnetic sensor HEEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz. The multiplexer 53 converts the drive voltage output from the magnetic sensor drive power supply unit 52 into the x-axis magnetic sensor HEEx, The sensor signals that are applied to the y-axis magnetic sensor HEy and the z-axis magnetic sensor HEz, respectively, and output from the x-axis magnetic sensor HEEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz are time-divisionally supplied to the magnetic sensor amplifier 54. Output.

The magnetic sensor amplifier 54 amplifies the sensor signals from the x-axis magnetic sensor HEEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz and outputs the amplified signal to the magnetic sensor A / D converter 55.
The magnetic sensor A / D conversion unit 55 performs A / D conversion on the sensor signals from the x-axis magnetic sensor HEx, the y-axis magnetic sensor HEy, and the z-axis magnetic sensor HEz amplified by the magnetic sensor amplification unit 54, and converts the converted digital signal. The data is output to the sensitivity / offset correction unit 56 as x-axis geomagnetic measurement data, y-axis geomagnetic measurement data, and z-axis geomagnetic measurement data, respectively.

  The sensitivity / offset correction unit 56 is based on the x-axis geomagnetism measurement data, the y-axis geomagnetism measurement data, and the z-axis geomagnetism measurement data from the magnetic sensor A / D conversion unit 55, and the x-axis magnetic sensor HEx and the y-axis magnetic sensor HEy. The offset and sensitivity correction coefficient of the z-axis magnetic sensor HEz are calculated, and the x-axis geomagnetic measurement data, the y-axis geomagnetic measurement data, and the z-axis geomagnetic measurement data are corrected based on the calculated offset and sensitivity correction coefficient.

The rotation angle calculation unit 57 calculates the rotation angle Δα around the rotation axis based on the x-axis geomagnetism measurement data, the y-axis geomagnetism measurement data, and the z-axis geomagnetism measurement data from the sensitivity / offset correction unit 56.
Next, the details of the calculation method of the rotation angle will be described with reference to FIG. First, an example of a calculation method of the rotation angle when the geomagnetic measurement data is measured by the triaxial magnetic sensor 51 in three different posture states of the rotation angle measuring device 200 will be described.

When the rotation angle measuring device 200 is rotated about the rotation axis (1, φ _A , θ _A ) represented by the polar coordinate system, the geomagnetic measurement data measured by the three-axis magnetic sensor 51 before the rotation is M, If the geomagnetic measurement data measured by the rotated three-axis magnetic sensor 51 is M ′, the relationship between the geomagnetic measurement data M and the geomagnetic measurement data M ′ satisfies the following expression (17). Here, the geomagnetic measurement data M and the geomagnetic measurement data M ′ are represented by three-dimensional vectors. The transformation matrix T is expressed by the following equations (18), (19), and (20).

The relationship between the geomagnetic measurement data M and the geomagnetic measurement data M ′ is a point obtained by rotating the point M on the three-dimensional space by (−α) around the rotation axis (1, φ _A , θ _A ). This is the same as the relationship between the point M and the point M ′ when M ′.
Accordingly, the rotation shaft _{(1, φ A, θ A} ) when the alpha ₁₂ rotates the rotational angle measuring device 200 around the geomagnetic measurement data measured by the three-axis magnetic sensor 51 before rotation and M _1, after the rotation 3 geomagnetic measurement data measured by the axis magnetic sensor 51 and M _2, further rotation axis _{(1, φ a, θ a} ) when the rotational angle measuring device 200 is rotated alpha ₂₃ around the three axes of the rotated When the geomagnetic measurement data measured by the magnetic sensor 51 and M _3, the magnetic measurement data M _1, the relationship of the magnetic measurement data M ₂ and the magnetic measurement data M ₃ are, the point M ₁ on the three-dimensional space, the rotation shaft ( 1, a point rotated by (−α ₁₂ ) around (φ _A , θ _A ) as a point M _2, and a point further rotated (−α ₂₃ ) around a rotation axis (1, φ _A , θ _A ) point _{M 1,} points _{M 2} and the point M when was the point _{M 3} Is the same as that of the relationship.

In FIG. 7, a point obtained by rotating the point M ₁ in the three-dimensional space (−α ₁₂ ) around the rotation axis (1, φ _A , θ _A ) is defined as a point M ₂ , and the rotation axis (1, φ _a, is a diagram showing a _{M 1,} the relationship of the point _{M 2} and the point _{M 3} points (-.alpha. ₂₃₎ when the point is rotated to the point _{M 3} around theta _a).
As shown in FIG. 7, the point M ₁ , the point M _2, and the point M ₃ are on the same plane and further on the circumference of one circle. The rotation axis (1, φ _A , θ _A ) is a normal line of a plane formed by the points M ₁ , M _2, and M ₃ that passes through the coordinate origin of the three-dimensional space. Pass through the center point of the circle.
The normal vector n of the plane formed by the points M ₁ , M _2, and M ₃ , that is, the rotation axis n expressed by the three-axis orthogonal coordinate system is expressed by the following equation (21).

  Therefore, an arbitrary point x on the plane is represented by the following expression (22), and the center point C of the circle is represented by the following expression (23).

Therefore, when the rotation angle measuring device 200 is rotated α _ij around the rotation axis (1, φ _A , θ _A ), the geomagnetism measurement data measured by the three-axis magnetic sensor 51 before the rotation is M _i, and after the rotation If the geomagnetic measurement data measured by the three-axis magnetic sensor 51 is M _j , the rotation angle α _ij is obtained by the following equations (24) and (25).

Next, an example of a calculation method of the rotation angle when the geomagnetic measurement data is measured by the triaxial magnetic sensor 51 in four or more different posture states of the rotation angle measuring device 200 will be described.
As described above, the relationship between the geomagnetic measured data M _i and the geomagnetic measured data M _j is the point M _i rotary shaft _{(1, φ A, θ A} ) when the point M _j points rotated about the Since the relationship between the point M _i and the point M _j is the same, the equation of the plane created by the point M _i associated with the measured geomagnetic measurement data M _i is expressed as x + by + cz + d = 0, ax + y + cz + d = 0, or Assuming that ax + by + z + d = 0, unknowns a, b, c, and d are obtained by the method of least squares. Here, the plane equation is generally expressed by ax + by + cz + d = 0, but at least one of the unknowns a, b, c, and d is 1. That is, an appropriate three geomagnetic measured data M _i measured into equation (21), x component of the normal vector n, y component, or the absolute value of z component coefficients large enough component than 0, Set to 1.
The point M _{i, 'when} the point M _i' point M _i of the points projected on a plane determined is represented by the following equation (26).

  Since the normal vector is n = (a, b, c), the center point C of the circle is expressed by the following equation (27).

Therefore, when the rotation angle measuring device 200 is rotated α _ij around the rotation axis (1, φ _A , θ _A ), the geomagnetism measurement data measured by the three-axis magnetic sensor 51 before the rotation is M _i, and after the rotation If the geomagnetic measurement data measured by the three-axis magnetic sensor 51 is M _j , the rotation angle α _ij is obtained by the following equations (28) and (29).

Next, an example of a calculation method of the rotation angle when the relative relationship between the coordinate axis and the coordinate origin of the arbitrary coordinate system X _rot and the measurement apparatus coordinate system X _M is known will be described. Here, the measurement device coordinate system X _M is a three-axis coordinate system of the rotation angle measurement device 200.
It is assumed that the coordinate system X _rot and the measurement device coordinate system X _M satisfy the following expressions (30) and (31).

That is, the coordinate system X _rot is a coordinate formed by first rotating the measuring apparatus coordinate system X _M around the z axis by θ, then rotating around the y axis, and finally rotating around the x axis by η. It is a system.
The geomagnetic measurement data measured by the three-axis magnetic sensor 51 in the first posture of the rotary angle measuring device 200 and M _1, the rotation axis of any one of the coordinate axes of the coordinate system X _rot, the coordinate system X _rot and the measuring device coordinate system X _M, alpha when rotating, the geomagnetic measurement data measured by the three-axis magnetic sensor 51 and M _2, the conversion value a value obtained by coordinate transformation to the coordinate system X _rot geomagnetic measured data M ₁ Table when the M _rot, was a value obtained by coordinate transformation to the coordinate system _{X rot} geomagnetic measured data _{M 2} and the converted value _{M ROT2,} converted value _{M rot} and converted value _{M ROT2} is by the following equation (32) and (33) Is done.

Here, the relationship between the converted value M _rot1 and the converted value M _rot2 is expressed by the following equations (34) and (37) when the x-axis is a rotation axis, and when the y-axis is a rotation axis, the following equation ( 35) and (38), and when the z-axis is a rotation axis, they are represented by the following equations (36) and (39).

Using equation (32) and (33), _{M 1} and geomagnetism measuring data geomagnetic measurement data calculated conversion value _{M rot} and converted value _{M ROT2} than _{M 2,} the converted value _{M rot} and the conversion value _{M ROT2} A component whose component change between them is 0 or a sufficiently small value is obtained. The coordinate axis representing the obtained component becomes the rotation axis.
The rotation angle α is obtained using any one of the equations (37), (38), or (39) corresponding to the obtained rotation axis.
Next, the operation of the present embodiment will be described.
When measuring the rotation angle Δα of the rotation angle measurement device 200, the user holds the rotation angle measurement device 200 in his hand and performs an operation for starting the acquisition of the tilt angle information. First, the user fixes the posture state of the rotation angle measurement device 200 to a known (eg, horizontal) inclination angle α ₀ by setting the elbow to an angle α ₀ , and the known inclination angle α _{0 is set} to the rotation angle measurement device 200. To measure geomagnetism. The geomagnetic measurement data M _x0 , M _y0 , and M _z0 obtained by the measurement are sent to the tilt angle information calculation unit 57 in FIG.

Next, by changing the elbow to the angle α ₁ , the user fixes the posture state of the rotation angle measuring device 200 to the tilt angle α ₁ while fixing the azimuth angle when the tilt angle α ₀ is measured, Measure geomagnetism. The geomagnetic measurement data M _x1 , M _y1 , and M _z1 obtained by the measurement are sent to the tilt angle information calculation unit 57 in FIG.
Next, the tilt angle information calculation unit 57 uses the above-described equations (9) and (10) to obtain geomagnetic measurement data M _x0 , M _y0 , M _z0 and tilt angles obtained at a known tilt angle α ₀ . Based on the geomagnetic measurement data M _x1 , M _y1 , and M _z1 obtained at α ₁ , the angle difference Δα of the tilt angle, that is, the rotation angle Δα is calculated.

In the embodiment of the rotation angle measurement device, rotation angle measurement program, and rotation angle measurement method described above, the three-axis magnetic sensor 51 corresponds to the magnetic detection means according to claim 3, 4, 7, 8, 11 or 12. The rotation angle calculation unit 57 corresponds to the rotation angle calculation means described in claim 3, 4, 7 or 8.
In the above-described embodiment, as shown in FIG. 2, the tilt angle (α) is changed, but the twist angle is calculated by a similar theory when the twist angle (η) is changed. can do.

In the above-described embodiment, as shown in FIG. 2, the ground coordinate system (xg, yg, zg) is the two axes on the horizontal plane and the vertical axis, but any ground coordinate system may be used. The rotation angle (θ, α, η) can be calculated by a similar theory.
In the above-described embodiment, the case where Hall elements are used as the triaxial magnetic sensor 31 and the triaxial magnetic sensor 51 has been described as an example, but the axial magnetic sensor 31 and the triaxial magnetic sensor 51 are not necessarily Hall elements. For example, a fluxgate sensor or the like may be used.

  In the embodiments of the azimuth measuring device, the azimuth measuring program, and the azimuth measuring method described above, the sensitivity / offset correction calculation unit 36, the tilt angle information calculation unit 37, the tilt angle correction calculation unit 39, and the azimuth calculation. The processing performed by the unit 40 may be realized by hardware, or the azimuth measuring device 100 may be configured as a computer in which a CPU, a ROM, and a RAM are connected by a bus, and the CPU may execute the processing. In this case, the control program stored in advance in the ROM may be executed, or the program may be read from the information recording medium storing the program showing these procedures and executed. May be.

  In the embodiment of the rotation angle measurement device, rotation angle measurement program, and rotation angle measurement method described above, the processing performed by the sensitivity / offset correction calculation unit 56 and the rotation angle calculation unit 57 may be realized by hardware. The rotation angle measuring device 200 may be configured as a computer in which a CPU, a ROM, and a RAM are connected by a bus, and the CPU may execute the processing. In this case, the control program stored in advance in the ROM may be executed, or the program may be read from the information recording medium storing the program showing these procedures and executed. May be.

Here, the information recording medium is a semiconductor recording medium such as RAM or ROM, a magnetic storage type recording medium such as FD or HD, an optical reading type recording medium such as CD, CDV, LD, or DVD, or a magnetic storage such as MO. Any type / optical reading type recording medium, including any information recording medium that can be read by a computer, regardless of electronic, magnetic, optical, or other reading methods.
In addition, the above-mentioned embodiment is for description and does not limit the scope of the present invention. Accordingly, those skilled in the art can employ embodiments in which each or all of these elements are replaced by equivalents thereof, and these embodiments are also included in the scope of the present invention.

It is a perspective view which shows the attachment structure of the magnetic sensor in the azimuth measuring device which concerns on this invention. It is a figure which shows the attitude | position state of the azimuth measuring device which concerns on this invention. It is a block diagram which shows the structure of the azimuth measuring device which concerns on this invention. It is a figure which defines the attitude | position state of an azimuth measuring device. It is a figure which shows an example of operation which changes the attitude | position state of an azimuth measuring device. It is a block diagram which shows the structure of the store angle measuring apparatus which concerns on this invention. Point _{M 1,} is a diagram showing the relationship of the point _{M 2} and point _{M 3.} The geomagnetic component in the ground coordinate system (xg, yg, zg) is shown. It is a perspective view which shows the attachment structure of the magnetic sensor in the conventional azimuth measuring device. It is a perspective view which shows the attachment structure of the inclination angle sensor in the conventional azimuth measuring device. It is a block diagram which shows the structure of the conventional azimuth measuring device.

Explanation of symbols

11, 31, 51 3-axis magnetic sensor HEx x-axis Hall element HEy y-axis Hall element HEz z-axis Hall element 12, 32, 52 Magnetic sensor drive power supply unit 13, 33, 53 Multiplexer units 14, 34, 54 Magnetic sensor amplification unit 15, 35, 55 Magnetic sensor A / D converters 16, 36, 56 Sensitivity / offset correction unit 37 Inclination angle calculation unit 38 Inclination angle information storage unit 20, 39 Measurement data correction unit 21, 40 Azimuth angle calculation unit 57 Rotation angle Calculation unit

Claims (13)

Triaxial geomagnetism detecting means for detecting geomagnetic components in directions orthogonal to each other;
The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means becomes the first inclination angle is set as the first attitude state, and the azimuth angle of the geomagnetism detection means in the first attitude state is fixed. The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means is a second inclination angle different from the first inclination angle is defined as a second attitude state.
Based on the first three-axis output data detected by the geomagnetism detection means in the first posture state and the second three-axis output data detected by the geomagnetism detection means in the second posture state, Angle difference calculating means for calculating an angle difference between the first inclination angle and the second inclination angle;
An inclination angle calculating means for calculating the second inclination angle based on the first inclination angle and the angle difference calculated by the angle difference calculating means;
Azimuth angle calculating means for calculating the azimuth angle of the geomagnetism detecting means based on the second tilt angle and the second three-axis output data;
An azimuth measuring device comprising: Triaxial geomagnetism detecting means for detecting geomagnetic components in directions orthogonal to each other;
The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means is the first inclination angle is defined as a first attitude state, and the first azimuth angle of the geomagnetism detection means in the first attitude state is fixed. The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means is a second inclination angle different from the first inclination angle is set as the second attitude state, and the geomagnetism in the second attitude state is maintained. With the second tilt angle of the detection means fixed, the attitude state of the geomagnetism detection means that becomes a second azimuth angle different from the first azimuth angle is defined as a third attitude state.
Based on the first three-axis output data detected by the geomagnetism detection means in the first posture state and the second three-axis output data detected by the geomagnetism detection means in the second posture state, Angle difference calculating means for calculating an angle difference between the first inclination angle and the second inclination angle;
An inclination angle calculating means for calculating the second inclination angle based on the first inclination angle and the angle difference calculated by the angle difference calculating means;
Based on the third triaxial output data detected by the geomagnetism detection means in the third posture state or detected by the geomagnetism detection means in the second posture state, and the second tilt angle. Azimuth angle calculating means for calculating the second azimuth angle or the first azimuth angle of the geomagnetic detection means,
An azimuth measuring device comprising: Triaxial magnetic detection means for detecting magnetic components in directions orthogonal to each other;
The rotation angle of the rotation based on three or more different three-axis output data detected by the magnetic detection means in the posture state of three or more different magnetic detection means rotated about one straight line as a rotation axis Rotation angle calculating means for calculating data and the rotation axis;
A rotation angle measuring device comprising: Triaxial magnetic detection means for detecting magnetic components in directions orthogonal to each other;
The first posture state of the magnetic detection means is defined as one of a coordinate system of the magnetic detection means for detecting the magnetic component and one of a three-axis coordinate system in which the relative relationship between the three coordinate axes and the coordinate origin is known. The posture state of the magnetic detection means different from the first posture state rotated about the coordinate axis as a rotation axis is set as a second posture state,
The first three-axis output data detected by the magnetic detection means in the first posture state is different from the first three-axis output data detected by the magnetic detection means in the second posture state. Rotation angle calculation means for calculating rotation angle data of the rotation and the rotation axis based on second triaxial output data;
A rotation angle measuring device comprising: A program for causing a computer that can use three-axis geomagnetic detection means for detecting geomagnetic components in directions orthogonal to each other to be executed,
The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means becomes the first inclination angle is set as the first attitude state, and the azimuth angle of the geomagnetism detection means in the first attitude state is fixed. The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means is a second inclination angle different from the first inclination angle is defined as a second attitude state.
Based on the first three-axis output data detected by the geomagnetism detection means in the first posture state and the second three-axis output data detected by the geomagnetism detection means in the second posture state, Angle difference calculating means for calculating an angle difference between the first inclination angle and the second inclination angle;
An inclination angle calculating means for calculating the second inclination angle based on the first inclination angle and the angle difference calculated by the angle difference calculating means;
Azimuth angle calculating means for calculating the azimuth angle of the geomagnetism detecting means based on the second tilt angle and the second three-axis output data;
An azimuth angle measuring program for causing the computer to execute a process for realizing A program for causing a computer that can use three-axis geomagnetic detection means for detecting geomagnetic components in directions orthogonal to each other to be executed,
The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means is the first inclination angle is defined as a first attitude state, and the first azimuth angle of the geomagnetism detection means in the first attitude state is fixed. The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means is a second inclination angle different from the first inclination angle is set as the second attitude state, and the geomagnetism in the second attitude state is maintained. With the second tilt angle of the detection means fixed, the attitude state of the geomagnetism detection means that becomes a second azimuth angle different from the first azimuth angle is defined as a third attitude state.
Based on the first three-axis output data detected by the geomagnetism detection means in the first posture state and the second three-axis output data detected by the geomagnetism detection means in the second posture state, Angle difference calculating means for calculating an angle difference between the first inclination angle and the second inclination angle;
An inclination angle calculating means for calculating the second inclination angle based on the first inclination angle and the angle difference calculated by the angle difference calculating means;
Based on the third triaxial output data detected by the geomagnetism detection means in the third posture state or detected by the geomagnetism detection means in the second posture state, and the second tilt angle. Azimuth angle calculating means for calculating the second azimuth angle or the first azimuth angle of the geomagnetic detection means,
An azimuth angle measuring program for causing the computer to execute a process for realizing A program for causing a computer capable of using three-axis magnetic detection means for detecting magnetic components in directions orthogonal to each other to execute the method,
The rotation angle of the rotation based on three or more different three-axis output data detected by the magnetic detection means in the posture state of three or more different magnetic detection means rotated about one straight line as a rotation axis A rotation angle measurement program, which is a program for causing the computer to execute processing for realizing rotation angle calculation means for calculating data and the rotation axis. A program for causing a computer capable of using three-axis magnetic detection means for detecting magnetic components in directions orthogonal to each other to execute the method,
The first posture state of the magnetic detection means is defined as one of a coordinate system of the magnetic detection means for detecting the magnetic component and one of a three-axis coordinate system in which the relative relationship between the three coordinate axes and the coordinate origin is known. The posture state of the magnetic detection means different from the first posture state rotated about the coordinate axis as a rotation axis is set as a second posture state,
The first three-axis output data detected by the magnetic detection means in the first posture state is different from the first three-axis output data detected by the magnetic detection means in the second posture state. The rotation angle is a program for causing the computer to execute processing for realizing the rotation angle calculation means for calculating the rotation angle data and the rotation axis based on the second three-axis output data. Measurement program. Utilizing a triaxial geomagnetism detecting means for detecting geomagnetic components in directions orthogonal to each other,
The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means becomes the first inclination angle is set as the first attitude state, and the azimuth angle of the geomagnetism detection means in the first attitude state is fixed. The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means is a second inclination angle different from the first inclination angle is defined as a second attitude state.
A first three-axis output data acquisition step of acquiring first three-axis output data by the geomagnetism detecting means in the first posture state;
A second triaxial output data acquisition step of acquiring second triaxial output data by the geomagnetism detecting means in the second posture state;
An angle difference calculating step of calculating an angle difference between the first inclination angle and the second inclination angle based on the first three-axis output data and the second three-axis output data;
An inclination angle calculating step of calculating the second inclination angle based on the first inclination angle and the angle difference;
An azimuth angle calculating step of calculating an azimuth angle of the geomagnetism detecting means based on the second tilt angle and the second triaxial output data;
An azimuth measuring method characterized by comprising: Utilizing a triaxial geomagnetism detecting means for detecting geomagnetic components in directions orthogonal to each other,
The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means is the first inclination angle is defined as a first attitude state, and the first azimuth angle of the geomagnetism detection means in the first attitude state is fixed. The attitude state of the geomagnetism detection means in which the inclination angle of the geomagnetism detection means is a second inclination angle different from the first inclination angle is set as the second attitude state, and the geomagnetism in the second attitude state is maintained. With the second tilt angle of the detection means fixed, the attitude state of the geomagnetism detection means that becomes a second azimuth angle different from the first azimuth angle is defined as a third attitude state.
A first three-axis output data acquisition step of acquiring first three-axis output data by the geomagnetism detecting means in the first posture state;
A second triaxial output data acquisition step of acquiring second triaxial output data by the geomagnetism detecting means in the second posture state;
An angle difference calculating step of calculating an angle difference between the first inclination angle and the second inclination angle based on the first three-axis output data and the second three-axis output data;
An inclination angle calculating step of calculating the second inclination angle based on the first inclination angle and the angle difference;
The third triaxial output data is acquired by the geomagnetic detection means in the third posture state, or the third triaxial output data is acquired again by the geomagnetic detection means in the second posture state. 3-axis output data acquisition process;
An azimuth angle calculating step of calculating the second azimuth angle or the first azimuth angle of the geomagnetism detecting means based on the second tilt angle and the third triaxial output data;
An azimuth measuring method characterized by comprising:   The first inclination angle is 0 degree, 90 degrees, 180 degrees, 270 degrees, approximately 0 degrees, approximately 90 degrees, approximately 180 degrees, or approximately 270 degrees with respect to the ground coordinate system. The azimuth angle measuring method according to 9 or 10. Utilizing a triaxial magnetic detection means for detecting magnetic components in directions perpendicular to each other,
A three-axis output data acquisition step of acquiring three or more different three-axis output data detected by the magnetic detection means in a posture state of three or more different magnetic detection means rotated about one straight line as a rotation axis When,
A rotation angle calculation step of calculating rotation angle data of the rotation and the rotation axis based on three or more different three-axis output data;
A rotation angle measuring method characterized by comprising: Utilizing a triaxial magnetic detection means for detecting magnetic components in directions perpendicular to each other,
The first posture state of the magnetic detection means is defined as one of a coordinate system of the magnetic detection means for detecting the magnetic component and one of a three-axis coordinate system in which the relative relationship between the three coordinate axes and the coordinate origin is known. The posture state of the magnetic detection means different from the first posture state rotated about the coordinate axis as a rotation axis is set as a second posture state,
A first three-axis output data acquisition step of acquiring first three-axis output data by the magnetic detection means in the first posture state;
A second triaxial output data acquisition step of acquiring second triaxial output data different from the first triaxial output data by the magnetic detection means in the second posture state;
A rotation angle calculation step of calculating rotation angle data of the rotation and the rotation axis based on the first three-axis output data and the second three-axis output data;
A rotation angle measuring method characterized by comprising:

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