JP2012119944A - Mobile apparatus correction system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an application of a mobile apparatus utilizing user's turn, acceleration and inclination to correctly operate even when the mobile apparatus is used in a vehicle.SOLUTION: Even when a mobile apparatus provided with a sensor detecting movements is used in a vehicle, a mobile apparatus correction system enables applications to correctly operate without being influenced by movements of the vehicle. Even if a user uses an application of the mobile apparatus that utilizes user's movements in a vehicle, the mobile apparatus correction system enables the application to correctly operate without being influenced by movements of the vehicle.

Description

  The present invention relates to a technology for transmitting sensor information between a mobile device and a vehicle-mounted device by short-range wireless or the like, and relates to a method for correcting the output of a sensor mounted on a mobile device and its system.

  In recent years, mobile devices such as mobile phones and smartphones have begun to spread rapidly. Some of these mobile devices are equipped with a sensor for detecting the user's operation in order to realize an application using the user's operation (see, for example, Patent Document 1).

  There are an acceleration sensor and a gyro sensor as typical examples of such a sensor that detects the user's movement. Since the acceleration sensor can calculate the tilt with respect to the horizontal plane from the direction and magnitude of the detected gravitational acceleration, it can detect how the user is tilting and operating the mobile device, and the gyro sensor Since an output signal is generated by applying rotation about a specific axis, it is possible to detect what rotation operation is given to the mobile device.

  In addition, there is an invention for improving the performance of a mobile device by transmitting vehicle behavior information to the mobile device via short-range wireless communication (see, for example, Patent Document 2). The contents described in this prior document are such that when an acceleration sensor or the like is not mounted on a mobile device, the mobile device application using the vehicle behavior information can be used by transmitting the vehicle behavior information. It is an invention that can be done.

JP 2001-272413 A JP 2008-107218 A

  However, when a mobile device equipped with these sensors is used in a vehicle, since the behavior of the vehicle is detected, there is a problem that an application using the sensor output malfunctions. Further, in the prior art document 2, it is an invention to be transmitted to a mobile device that does not have a sensor, and a process linked to the behavior of the car can be performed, but the operation is performed in consideration of the behavior of the car. It was not.

  Therefore, the present invention has been made in view of solving the above-described problems, and even when a mobile device equipped with a sensor for detecting an operation is used in a vehicle, the application operates correctly without being affected by the behavior of the vehicle. A correction system is provided.

A mobile device correction system according to the present invention is a mobile device correction system that acquires information from an in-vehicle device and corrects an operation of the mobile device, wherein the in-vehicle device detects an acceleration of a vehicle, and the vehicle An attitude calculation means for calculating the attitude of the in-vehicle device with respect to and a transmission means for transmitting the acceleration detected by the acceleration detection means to the mobile device, wherein the mobile device detects an acceleration generated in the mobile device. Mobile acceleration detection means; attitude calculation means for calculating the attitude of the mobile device relative to the vehicle; information receiving means for receiving the acceleration detected by the acceleration detection means and the installation angle of the in-vehicle device from the in-vehicle device; The acceleration detected by the acceleration detecting means, the acceleration detected by the mobile acceleration detecting means, and the posture calculating means Acceleration component calculation means for calculating an acceleration component of the vehicle included as an error in the mobile device from an attitude, and the acceleration detected by the mobile acceleration detection means using the acceleration component calculated by the acceleration component calculation means A correction means is provided.

  The vehicle-mounted device includes means for detecting rotation generated in the vehicle-mounted device, means for calculating a posture of the vehicle-mounted device with respect to a vehicle, rotation generated in the vehicle-mounted device and attitude of the vehicle-mounted device with respect to the vehicle, Means for transmitting to a mobile device, the mobile device detecting means for detecting rotation generated in the mobile device, means for calculating an attitude of the mobile device relative to a vehicle, rotation with respect to the in-vehicle device, and in-vehicle with respect to the vehicle Means for receiving the attitude of the machine from the in-vehicle apparatus, means for calculating the rotation generated in the vehicle from the rotation generated in the in-vehicle apparatus and the attitude of the in-vehicle apparatus relative to the vehicle, and the rotation generated in the vehicle Means for calculating a rotational component of the vehicle included as an error in the mobile device from the rotation generated in the mobile device and the attitude of the mobile device relative to the vehicle; And rotating components generated vessel, and a rotation component of the vehicle is included as an error to the mobile device, the user is characterized by comprising means for calculating a rotation imparted to the mobile device.

  The present invention can operate correctly without being affected by the behavior of the vehicle even when the application of the mobile device that uses the user's operation is used in the vehicle.

The block diagram which shows the structure of the mobile device correction | amendment system in embodiment of this invention. Flow chart of processing in in-vehicle device 10 Flow chart of processing in mobile device 20 Flow chart of user operation amount calculation processing unit Schematic diagram showing axis definitions Schematic diagram showing the definition of posture Schematic diagram for calculating the yaw angle of a mobile device

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a mobile device correction system according to an embodiment of the present invention.

As shown in FIG. 1, the mobile device correction system S of the present invention includes an in-vehicle device 10 and a mobile device 20.
Here, the vehicle-mounted device 10 includes a sensor unit 11, a control unit 12, and a short-range wireless communication unit 16, and the vehicle-mounted device 10 is mainly a stationary car navigation device or a PND (Portable Navigation Device). As long as it is an in-vehicle device satisfying the above configuration, it can be used for any in-vehicle device.

The sensor unit 11 includes a gyro sensor 11a, an acceleration sensor 11b, a geomagnetic sensor 11c, and a vehicle speed pulse 11d.
The gyro sensor 11a has a three-axis type configuration that can detect yaw rotation, pitch rotation, and roll rotation of the vehicle. Further, instead of the three-axis type, a plurality of gyro sensors that detect only one-axis rotation may be detected by changing the mounting direction. Here, the yaw rotation is rotation about the vertical axis and represents a relative azimuth change. The pitch rotation is rotation about the left and right axis. Furthermore, roll rotation represents rotation about the front-rear axis.
The vertical axis, left / right axis, and front / rear axis are as shown in FIG. 5, and when installed vertically on the vehicle, they coincide with the vertical direction, left / right direction, and front / rear direction of the vehicle. Further, the rotation in the present invention is a physical quantity in units of angular velocity (rotation angle in unit time).
If three rotation detection axes are required for the application on the mobile device side, the number of axes may be reduced as necessary.

  As the acceleration sensor 11b, a three-axis sensor capable of detecting acceleration in the front-rear axis direction, acceleration in the left-right axis direction, and acceleration in the vertical axis direction is used. In addition to the use for calculating acceleration, it is also used for calculating the attitude of the in-vehicle device 10.

The posture here means an installation angle of the in-vehicle device 10 with respect to the vehicle, and a pitch angle, a yaw angle, and a roll angle are constituent elements. (See Figure 6)
The pitch angle means an angle formed by the vertical direction of the vehicle and the vertical axis of the acceleration sensor 11b in the traveling direction.
The yaw angle means an angle formed on the horizontal plane of the vehicle by the left-right direction of the vehicle and the left-right axis of the acceleration sensor 11b.
The roll angle means an angle formed by the horizontal direction of the vehicle and the left and right axes of the acceleration sensor 11b on the vertical plane of the vehicle.

  The yaw angle, pitch angle, and roll angle can be calculated from the ratio of acceleration components of each axis of the acceleration sensor 11b. The acceleration component is composed of the magnitude of acceleration and its polarity. Further, the magnitude of acceleration is determined by the absolute values in the respective outputs in the longitudinal axis direction, the lateral axis direction, and the vertical axis direction. Further, the polarity of acceleration is a plus or minus sign in the output in the front-rear axis direction, the left-right axis direction, or the vertical axis direction, and is determined by the direction of acceleration relative to the front-rear axis, the left-right axis, or the vertical axis .

The geomagnetic sensor 11c uses a three-axis sensor that detects magnetic field components in the longitudinal axis direction, the lateral axis direction, and the vertical axis direction. The absolute azimuth can be calculated from the ratio of the magnetic field components of each axis. The magnetic field component is composed of the magnitude of the magnetic field and its polarity.
The magnitude of the magnetic field refers to an absolute value in each output in the front-rear axis direction, the left-right axis direction, and the vertical axis direction.

The polarity of the magnetic field is a plus or minus sign in the output in the front-rear axis direction, the left-right axis direction, or the vertical axis direction, and is determined by the direction of the magnetic field with respect to the front-rear axis, the left-right axis, or the vertical axis. .
The absolute azimuth is a physical force having an angle as a unit, and the absolute azimuth is 0 degrees when the front faces north.

  As an alternative configuration of the geomagnetic sensor, position information and orientation information calculated from a GPS (Global Positioning System) device, relative orientation change calculated from the gyro sensor 11a, and absolute orientation from a map database May be calculated.

  The vehicle speed pulse 11d is a pulse signal that can be obtained from the vehicle by the vehicle-mounted device 10, and this pulse signal is generated at every fixed travel distance so that it can be used for calculating the vehicle speed and calculating the acceleration in the traveling direction. It is configured.

The control unit 12 includes an in-vehicle device sensor output calculation unit 13, an in-vehicle device attitude calculation unit 14, and a road inclination calculation unit 15. Here, the vehicle-mounted device sensor output calculation unit 13 can calculate physical quantities of rotation, acceleration, magnetic field, and speed (acceleration) in order from the gyro sensor 11a, acceleration sensor 11b, geomagnetic sensor 11c, and vehicle speed pulse 11d of the sensor unit 11. The vehicle behavior information can be calculated based on the output of each sensor obtained by the sensor unit 11.
The in-vehicle device attitude calculation unit 14 is configured to be able to calculate the attitude and absolute orientation of the in-vehicle device 10 from the values calculated by the in-vehicle device sensor output calculation unit 13.
The road inclination calculation unit 15 is configured to be able to calculate the road inclination.
"0026"
The short-range wireless communication unit 16 of the in-vehicle device 10 is configured to be able to perform bidirectional communication of information acquired from the control unit 12 with the short-range wireless communication unit 27 of the mobile device 20.
Specifically, the short-range wireless communication unit 16 is a processing unit that transmits vehicle behavior information obtained by the control unit 12 to the mobile device 20. For data communication between the mobile device 20 and the vehicle-mounted device 10, Bluetooth (registered trademark), which is a well-known short-range wireless method, may be used, but any other communication means can be used as long as it is a communication means capable of transmitting the behavior of the vehicle. May be used.

(Explanation of operation of mobile device)
The mobile device 20 according to the embodiment of the present invention includes a sensor unit 21, a control unit 22, a short-range wireless communication unit 27, and an application unit 28. Although a portable terminal such as a smartphone or a mobile phone is mainly assumed, any mobile device may be used as long as the mobile device satisfies the above configuration. The sensor unit 21 includes a gyro sensor 21a, an acceleration sensor 21b, and a geomagnetic sensor 21c.

  The gyro sensor 21a uses a three-axis sensor that detects yaw rotation, pitch rotation, and roll rotation of the mobile device 20. A plurality of gyro sensors that detect only rotation in one direction may be used by changing the mounting direction. If the application unit 28 does not require three rotation detection axes, the number of axes may be reduced as necessary.

  As the acceleration sensor 21b, a three-axis sensor that detects acceleration in the front-rear axis direction, acceleration in the left-right axis direction, and acceleration in the vertical axis direction of the mobile device 20 is used. In addition to the use for calculating the acceleration of the mobile device 20, the mobile device 20 is also used for calculating the attitude of the mobile device 20.

  As the geomagnetic sensor 21c, a three-axis sensor that detects magnetic field components in the front-rear axis direction, the left-right axis direction, and the vertical axis direction of the mobile device 20 is used. The absolute orientation of the mobile device 20 can be calculated from the ratio of the magnetic field components of each axis.

  The control unit 22 includes a signal synchronization processing unit 23, a mobile sensor output calculation unit 24, and a mobile posture calculation unit 25. Based on the vehicle behavior information obtained from the short-range wireless communication unit 27, the user output is calculated by correcting the sensor output obtained from the sensor unit 21. The “user motion amount” means the acceleration of the mobile device 20 due to the user's motion and the rotation of the mobile device 20 due to the user's motion, and the definition will be described later in step 307 and step 308 of the embodiment. The calculated user operation amount is sent to the application unit 28. Details are described in the examples.

  The short-range wireless communication unit 27 is a processing unit that receives vehicle behavior information transmitted from the short-range wireless communication unit 16 of the in-vehicle device 10. The reception side processing of the method adopted in the short-range wireless communication unit 16 is provided.

  The application unit 28 executes processing such as acceleration, rotation, and tilt given to the mobile device 20 based on the user operation amount. For example, an application that detects a tilt and changes a display screen or an application that displays a message triggered by rotation is executed.

  The present invention transmits the vehicle behavior information calculated by the in-vehicle device 10 to the mobile device 20, and corrects the sensor outputs of the gyro sensor 21a and the acceleration sensor 21b on the mobile device 20 side based on the information, thereby enabling the application. Appropriate information is sent to the unit 28.

  However, the behavior of the vehicle detected by the in-vehicle device 10 and the mobile device 20 differs depending on each posture. Therefore, the vehicle behavior information detected on the in-vehicle device 10 side cannot be used on the mobile device 20 side. Therefore, the in-vehicle device 10 and the mobile device 20 are provided with means for calculating the posture in the control unit 12 and the control unit 22, and the vehicle behavior information is converted into appropriate information according to the difference in the respective postures. The sensor output of the mobile device 20 is corrected. The corrected sensor output is used by the application unit 28 as a user operation amount.

  Detailed processing executed by the in-vehicle device 10 and the mobile device 20 will be described with reference to a block diagram (FIG. 1), a flow diagram of the in-vehicle device 10 (FIG. 2), and a flow diagram of the mobile device 20 (FIG. 3).

(Processing of in-vehicle device 10)
In S101, the short-range wireless communication unit 16 of the in-vehicle device 10 and the short-range wireless communication unit 27 of the mobile device 20 establish a communication path between the on-vehicle device 10 and the mobile device 20. When the communication path is not established (S101, NO), the following processing is not executed. When the communication path is established (S101, YES), it is considered that the connection is completed, and the process proceeds to S102.

  In S102, the in-vehicle device sensor output calculation unit 13 calculates physical quantities of rotation, acceleration, magnetic field, and speed (acceleration) in this order from the gyro sensor 11a, acceleration sensor 11b, geomagnetic sensor 11c, and vehicle speed pulse 11d of the sensor unit 11.

  The difference of the output voltage value with respect to the reference voltage value of the gyro sensor 11a, the acceleration sensor 11b, and the geomagnetic sensor 11c is calculated, and the product of the difference and the designated conversion constant is taken to obtain the rotation, acceleration, and magnetic field. The obtained physical quantity is passed through a filter such as an averaging process to remove noise components.

  The rotation, acceleration, and magnetic field obtained from the gyro sensor 11a, the acceleration sensor 11b, and the geomagnetic sensor 11c include a certain amount of error in the initial state. For example, in the gyro sensor 11a and the acceleration sensor 11b, a phenomenon such as detection of acceleration or rotation is observed although it is stopped. Therefore, in order to make the calculated physical quantity a correct result, it is necessary to perform correction for each.

  As an example of an acceleration and rotation correction method, a GPS device or acceleration sensor 11b, a vehicle speed pulse 11d, and the like are used to determine whether the vehicle is running. If it is determined that the vehicle is stopped, it is output at that time. The value is determined to be an error that is constantly included, and correction such as subtracting the error from the subsequent calculation results is performed. It should be noted that other correction methods have been proposed and, of course, that method may be used.

  As for the correction of the magnetic field, a method of correcting each magnetic field component by learning a change in direction (magnetic field change) during traveling and estimating a unique magnetic field existing in the vehicle may be used.

From the vehicle speed pulse 11d, the speed and acceleration in the traveling direction of the vehicle are calculated. The speed is calculated from the number of pulses generated per unit time. The acceleration is calculated from the difference in speed change per unit time.

  In S103, the road inclination calculation unit 15 calculates the road inclination angle. The road inclination angle is calculated using the acceleration sensor 11b output in the longitudinal axis direction and the acceleration calculated from the vehicle speed pulse 11d.

  When the vehicle is traveling on a sloping road, the acceleration sensor 11b outputs in the front-rear axis direction include a vehicle acceleration component and a gravitational acceleration component resulting from the inclination. Since the gravitational acceleration component is determined according to the magnitude of the road inclination angle, the road inclination angle can be calculated by extracting only the gravitational acceleration component.

式（１）では、加速度センサ１１ｂの前後軸方向の出力に含まれている車両の加速度成分を、車速パルス１１ｄで算出した加速度で除去している。 If the road inclination angle is θ, the output in the longitudinal axis direction of the acceleration sensor 11b is Ax, the acceleration calculated from the vehicle speed pulse 11d is Acc, and the gravitational acceleration is G, the road inclination angle is calculated by the following equation.

In the expression (1), the acceleration component of the vehicle included in the output in the longitudinal axis direction of the acceleration sensor 11b is removed with the acceleration calculated by the vehicle speed pulse 11d.

  In S <b> 104, the in-vehicle device attitude calculation unit 14 calculates the in-vehicle device 10 attitude and absolute azimuth. For calculating the posture, the acceleration component obtained from the acceleration sensor 11b is used. The absolute orientation uses the calculated posture and the magnetic field component obtained from the geomagnetic sensor 11c.

  In addition, since the attitude | position calculated | required here is an installation attitude | position of the vehicle equipment 10 with respect to a vehicle, it does not change fundamentally. Therefore, the calculation of the attitude of the in-vehicle device 10 may not necessarily be executed continuously.

The gravitational acceleration component included in the acceleration in the front-rear axis direction, the acceleration in the left-right axis direction, and the acceleration in the vertical axis direction of the acceleration sensor 11 b is output according to the attitude of the in-vehicle device 10. Therefore, the pitch angle and the roll angle can be calculated from the ratio of the acceleration components. If the pitch angle is P, the roll angle is R, the acceleration in the front-rear axis direction is Ax, the acceleration Ay in the left-right axis direction, and the gravity acceleration is G, the following formula is used.

  Expression (2) is a simplified expression when only the pitch angle is present, and expression (3) is a simplified expression when only the roll angle is present. Considering the case where the pitch angle, roll angle, and yaw angle exist in combination, a strict calculation formula using posture expression such as Euler angle may be used.

  Note that if the calculation of the posture is performed during traveling, the acceleration component of the vehicle is included in Ax and Ay, and it is difficult to obtain a correct result. If the road has an inclination, the pitch angle includes the road inclination angle, and it is difficult to obtain a correct result. Therefore, the calculation of the pitch angle and the roll angle is executed when the vehicle stops at a flat place. Whether the vehicle is stopped may be determined by using information such as the GPS device or the acceleration sensor 11b and the vehicle speed pulse 11d, and whether the vehicle is flat is determined from the road inclination angle calculated by the road inclination calculation unit 15.

Next, the yaw angle is calculated from the ratio of the acceleration in the front-rear axis direction and the acceleration in the left-right axis direction of the acceleration sensor 11b. If the yaw angle is Y, the calculation formula is expressed by the following formula.

  Since the output of the acceleration sensor 11b during the stop does not depend on the yaw angle, the yaw angle cannot be calculated unless the vehicle is running. Furthermore, since the calculation accuracy of the yaw angle decreases if the acceleration does not exceed a certain value, a certain threshold value (for example, 0.5 [m / s2]) is provided, and the yaw angle is calculated only when the acceleration is higher than that. carry out.

  Next, the absolute azimuth is calculated from the pitch angle and the roll angle obtained in the above and the magnetic field component obtained from the geomagnetic sensor 11c. The magnetic field components in the front-rear direction, the left-right direction, and the vertical direction obtained from the geomagnetic sensor 11 c depend on the direction in which the vehicle-mounted device 10 is directed. Therefore, the absolute direction can be calculated from the ratio of each magnetic field component.

When the pitch angle and roll angle are 0 degrees, assuming that the absolute direction is Ya, the magnetic field component in the front-rear axis direction is Hx, and the magnetic field component in the left-right axis direction is Hy, the absolute direction is calculated by the following equation.

In addition, when the pitch angle and the roll angle exist, the correct result cannot be obtained from the equation (5). Therefore, the absolute azimuth angle is calculated using a calculation formula in consideration of the pitch angle, the roll angle, and the magnetic field component in the vertical axis direction. Is calculated.

  In S105, the yaw rotation, pitch rotation, and roll rotation of the gyro sensor 11a, the acceleration in the longitudinal axis direction, the acceleration in the horizontal axis direction, and the acceleration in the vertical axis direction obtained by the in-vehicle device sensor output calculation unit 13 are obtained. Then, the posture information calculated by the vehicle-mounted device posture calculation unit 14 and the road inclination angle calculated by the road inclination calculation unit 15 are sent to the short-range wireless communication unit 16 as vehicle behavior information. The vehicle behavior information is continuously transmitted to the mobile device 20 through the short-range wireless communication unit 27.

(Processing of mobile device 20)
In S201, a communication path between the in-vehicle device 10 and the mobile device 20 is established. The process performed here is equivalent to the connection process in S101 of the in-vehicle device 10. When the communication path is not established (S201, NO), the following processing is not executed. When the communication path is established (S201, YES), it is considered that the connection is completed, and the process proceeds to S202.

  In S202, the yaw rotation, pitch rotation, and roll rotation of the gyro sensor 11a, the acceleration in the longitudinal axis direction, the acceleration in the horizontal axis direction, and the acceleration in the vertical axis direction obtained by the in-vehicle device sensor output calculation unit 13 are obtained. Then, the attitude information calculated by the in-vehicle apparatus attitude calculating unit 14 and the road inclination angle calculated by the road inclination calculating unit 15 are acquired from the short-range wireless communication unit 27 as vehicle behavior information. The vehicle behavior information is continuously received from the in-vehicle device 10.

  In S203, the mobile sensor output calculation unit 24 calculates rotation, acceleration, and magnetic field in order from the gyro sensor 21a, acceleration sensor 21b, and geomagnetic sensor 21c of the sensor unit 21.

  The difference of the output voltage value with respect to the reference voltage value of the gyro sensor 21a, the acceleration sensor 21b, and the geomagnetic sensor 21c is calculated, and the rotation, acceleration, and magnetic field are calculated by taking the product of the difference and the designated conversion constant. The obtained result is passed through a filter such as an averaging process to remove noise components.

  The rotation, acceleration, and magnetic field obtained from the gyro sensor 21a, the acceleration sensor 21b, and the geomagnetic sensor 21c include a certain amount of error in the initial state. Therefore, in order to make the calculated physical quantity a correct result, it is necessary to perform correction for each.

  In the case of acceleration and rotation, the user is prompted to stop the mobile device 20 on a horizontal plane, and the value output at that time is determined as an error that is constantly included, and the error is calculated from the subsequent calculation results. A correction method such as subtraction may be used. Note that other correction methods may be used.

  For the absolute direction, correction may be performed such that the user directly specifies an error amount of the absolute direction or the user performs a rotation operation of the mobile device 20 and estimates the error from the detected magnetic field peak width. .

In S204, the signal synchronization processing unit 23 performs time synchronization between the in-vehicle device 10 and the mobile device 20 using NTP (Network Time Protocol) at the time of short-range wireless connection. This makes it possible to set the internal clock between the in-vehicle device 10 and the mobile device 20 with an error within 1 msec.
The NTP server may be in either the in-vehicle device 10 or the mobile device 20, and may be synchronized using an NTP server on the Internet.

  The sensor output packet transmitted from the in-vehicle device 10 by the short-range wireless communication unit 16 is given a time stamp of the time when the synchronization processing is performed. When the signal synchronization processing unit 23 outputs a sensor signal from the sensor unit 21 of the mobile device 20, until the arrival of the output packet of the sensor unit 11 of the in-vehicle device 10 to which a time stamp in the vicinity of the time is given, The sensor output of the mobile device 20 is buffered.

The association between the time stamp of the sensor output of the in-vehicle device 10 and the sensor output of the mobile device 20 is determined by the sampling rate of the sensor output of the in-vehicle device 10. For example, when the sensor output of the in-vehicle device 10 is sampled at 50 msec, a time stamp having an error within 25 msec before and after the time of sensor output of the mobile device 20 is given regardless of the sensor sampling rate of the mobile device 20. The sensor output of the in-vehicle device 10 is associated.

  In S <b> 205, the mobile posture calculation unit 25 calculates the posture and absolute orientation of the mobile device 20. In calculating the posture, the acceleration output obtained from the acceleration sensor 21b is used. Further, the calculation of the absolute direction uses the calculation result of the attitude and the magnetic field output obtained from the geomagnetic sensor 21c. Note that the attitude obtained here is the angle of the mobile device 20 with respect to the vehicle.

  First, the gravitational acceleration component included in the acceleration sensor 21b acceleration in the longitudinal axis direction, acceleration in the horizontal axis direction, and acceleration in the vertical axis direction is acquired. Next, a pitch angle and a roll angle are calculated from the equations (2) and (3) used in S104.

  Next, in order to remove error components such as a vehicle acceleration component and a user acceleration component included in the calculation of the pitch angle and roll angle, a filter such as an averaging process is performed.

  Next, in order to remove the influence of the road inclination, the pitch angle of the mobile device 20 is corrected by subtracting the road inclination angle obtained by the in-vehicle device 10 from the pitch angle calculated by the mobile device 20.

  The absolute azimuth is calculated from the pitch angle and roll angle obtained above and the magnetic field output obtained from the geomagnetic sensor 21c. About the calculation method, it is the same as the case of the vehicle equipment 10, and Formula (5) is used.

Ｓ２０６では、ユーザ動作量算出部２６において、ユーザ動作量を算出する。 As for the yaw angle of the mobile device 20, since the degree of freedom of the posture is high, the calculation formula (4) is not suitable. Therefore, the yaw angle is calculated from the yaw angle and absolute azimuth of the vehicle-mounted device 10 and the absolute azimuth obtained by the mobile attitude calculation unit 25. If the yaw angle of the mobile device 20 is Ym, the absolute azimuth is Yma, the yaw angle of the vehicle-mounted device 10 is Yn, and the absolute azimuth is Yna, the yaw angle of the mobile device 20 can be obtained by the following calculation formula (see FIG. 7).

In S206, the user motion amount calculation unit 26 calculates the user motion amount.

  First, acceleration and rotation actually applied to the vehicle are calculated from the acceleration component and rotation component detected by the in-vehicle device 10 and the attitude of the in-vehicle device 10. The acceleration and rotation actually applied to the vehicle are referred to as vehicle acceleration and vehicle rotation.

  Next, the degree of influence of the vehicle acceleration and the vehicle rotation on the mobile device 20 is calculated from the attitude calculation result of the mobile device 20. The calculation results are referred to as acceleration correction amount and rotation correction amount.

  Finally, the acceleration component and the rotation component given to the mobile device 20 by the user are calculated by subtracting the acceleration correction amount and the rotation correction amount from the acceleration component and the rotation component calculated by the mobile device 20.

Details of the processing will be described with reference to the flowchart of FIG.
In S301, the vehicle behavior information received by the short-range wireless communication unit 27 is acquired.
In S <b> 302, the vehicle acceleration is calculated from the acceleration components in the longitudinal axis direction, the lateral axis direction, and the vertical axis direction calculated by the acceleration sensor 11 b and the attitude of the in-vehicle device 10.

Ｓ３０３では、車両回転を、ジャイロセンサ１１ａで算出したピッチ回転、ヨー回転、ロール回転と、車載機１０の姿勢から算出する。 The longitudinal axis component, the lateral axis component, and the vertical axis component of the acceleration sensor 11b are Nax, Nay, Naz, the pitch angle, the yaw angle, and the roll angle of the in-vehicle device 10 are P, Y, R, the longitudinal axis component of the vehicle acceleration, the lateral axis If the component and the vertical axis component are Cax, Cay, and Caz, the vehicle acceleration is calculated by the following equation.

In S303, the vehicle rotation is calculated from the pitch rotation, yaw rotation and roll rotation calculated by the gyro sensor 11a and the attitude of the in-vehicle device 10.

Ｓ３０４では、モバイル姿勢算出部２５で算出したピッチ角、ロール角、ヨー角を取得する。 The pitch rotation, yaw rotation, and roll rotation of the gyro sensor 11a are Ngx, Ngy, Ngz, the pitch angle, yaw angle, and roll angle of the vehicle-mounted device 10 are P, Y, and R, the pitch rotation component of the vehicle, the yaw rotation component, and the roll rotation. If the components are Cgx, Cgy, and Cgz, the vehicle rotation is calculated by the following equation.

In S304, the pitch angle, roll angle, and yaw angle calculated by the mobile posture calculation unit 25 are acquired.

In S305, an acceleration correction amount for the mobile device 20 is calculated. The forward and backward axis components, the left and right axis components, and the vertical axis component of the acceleration correction amount are Rax, Ray, and Raz, the pitch angle of the mobile device 20 is Pm, the yaw angle is Ym, and the roll angle is Rm. , Cay, Caz, the acceleration correction amount can be obtained from the following calculation formula.

In S306, a rotation correction amount for the mobile device 20 is calculated. The pitch rotation component, the yaw rotation component, and the roll rotation component of the rotation correction amount are Rgx, Rgy, and Rgz, the pitch angle of the mobile device 20 is Pm, the yaw angle is Ym, and the roll angle is Rm. , Cgy, Cgz, the rotation correction amount can be obtained from the following calculation formula.

In S307, the acceleration that the user causes the mobile device 20 to operate is calculated using the acceleration correction amount obtained in S305. If the front and rear axis components, left and right axis components and vertical axis components of the acceleration operated by the user are Uax, Uay and Uaz, the front and rear axis components, left and right axis components and vertical axis components of the acceleration sensor 21b are Max, May and Maz, The acceleration operated by the user is expressed by the following calculation formula.

In S308, the rotation that the user has caused the mobile device 20 to operate is calculated using the rotation correction amount obtained in S306. If the pitch rotation component, yaw rotation component, and roll rotation component of the rotation operated by the user are Ugx, Ugy, Ugz, the pitch rotation component of the gyro sensor 21a, the yaw rotation component, and the roll rotation component are Mgx, Mgy, and Mgz, The rotation operated by the user is expressed by the following calculation formula.

  The calculation results of the acceleration components Uax, Uay, Uaz operated by the user and the rotation components Ugx, Ugy, Ugz operated by the user are obtained by removing the influence of the behavior of the vehicle and are sent to the application unit 28.

The sensor correction system according to the present invention can be applied to all devices equipped with a gyro sensor, an acceleration sensor, and the like, and is useful not only in private cars but also in scenes used in buses, trains, and the like.

DESCRIPTION OF SYMBOLS 10 In-vehicle apparatus 11 Sensor part 11a Gyro sensor 11b Acceleration sensor 11c Geomagnetic sensor 11d Vehicle speed pulse 12 Control part 13 In-vehicle apparatus sensor output calculation part 14 In-vehicle apparatus attitude calculation part 15 Road inclination calculation part 16 Near field communication part 20 Mobile device 21 Sensor Unit 21a gyro sensor 21b acceleration sensor 21c geomagnetic sensor 22 control unit 23 signal synchronization processing unit 24 mobile sensor output calculation unit 25 mobile posture calculation unit 26 user motion amount calculation unit 27 short-range wireless communication unit 28 application unit

Claims (2)

  A mobile device correction system that acquires information from an in-vehicle device and corrects an operation of the mobile device, wherein the in-vehicle device calculates acceleration of a vehicle and an attitude of the in-vehicle device with respect to the vehicle. Posture calculating means, and transmitting means for transmitting the acceleration detected by the acceleration detecting means to the mobile device, the mobile device detecting the acceleration generated in the mobile device, and the mobile acceleration detecting means for the vehicle Attitude calculating means for calculating the attitude of the mobile device; information receiving means for receiving an acceleration detected by the acceleration detecting means and an installation angle of the in-vehicle apparatus from the in-vehicle apparatus; acceleration detected by the acceleration detecting means; An error is detected in the mobile device from the acceleration detected by the mobile acceleration detection means and the attitude calculated by the attitude calculation means. Acceleration component calculation means for calculating the acceleration component of the vehicle included, and correction means for correcting the acceleration detected by the mobile acceleration detection means using the acceleration component calculated by the acceleration component calculation means. Mobile device correction system.   The in-vehicle device includes means for detecting rotation generated in the in-vehicle device, means for calculating an attitude of the in-vehicle device with respect to a vehicle, rotation generated in the in-vehicle device, and attitude of the in-vehicle device with respect to the vehicle. Means for transmitting to the mobile device, means for detecting rotation occurring in the mobile device, means for calculating the attitude of the mobile device relative to the vehicle, rotation relative to the vehicle-mounted device, and of the vehicle-mounted device relative to the vehicle. Means for receiving an attitude from the vehicle-mounted device, means for calculating rotation generated in the vehicle from rotation generated in the vehicle-mounted device and attitude of the vehicle-mounted device relative to the vehicle, rotation generated in the vehicle, and the mobile Means for calculating a rotation component of the vehicle included as an error in the mobile device from the rotation generated in the device and the attitude of the mobile device relative to the vehicle; 2. The mobile device correction system according to claim 1, further comprising: means for calculating a rotation given to the mobile device by the user from the rotation component that has been detected and the vehicle rotation component included in the mobile device as an error. .

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