JP2018044924A - Information processor, driving method thereof, program and storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an arrangement which allows a posture of an information processor to be appropriately inferred even in an environment in which a magnetic field around the information processor is unstable.SOLUTION: An information processor 100 comprises: a first posture calculation unit 221 which uses sensor data of a gyro sensor 151 to calculate a posture of the information processor 100; a second posture calculation unit 222 which uses sensor data of a geomagnetic sensor 152 to calculate the posture of the information processor 100; a magnetic field variation detection unit 230 which detects whether a magnetic field around the information processor 100 has been varied or not in accordance with a result of comparison between a first calculation result obtained by the first posture calculation unit 221 and a second calculation result obtained by the second posture calculation unit 222; and a posture inference unit 240 which, in response to detecting magnetic field variation by the magnetic field variation detection unit 230, uses the first calculation result and the second calculation result to infer the posture of the information processor 100.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technique for estimating the attitude of an information processing apparatus that processes information.

  In recent years, research on techniques for estimating the posture of an information processing apparatus using various sensors has been conducted. For example, Patent Document 1 describes a technique for determining the posture of an information processing apparatus using a geomagnetic sensor, a gyro sensor, or an acceleration sensor.

U.S. Pat. No. 9,146,285

  However, the conventional technique has a problem that it is difficult to properly estimate the posture of the information processing apparatus in an environment where the magnetic field around the information processing apparatus is unstable.

  The present invention has been made in view of such a problem, and even in an environment where the magnetic field around the information processing apparatus is unstable, the posture of the information processing apparatus can be properly estimated. The aim is to provide a possible mechanism.

An information processing apparatus according to the present invention is an information processing apparatus for processing information, and includes first attitude calculation means for calculating the attitude of the information processing apparatus using sensor data of a gyro sensor, and sensor data of a geomagnetic sensor. Obtained by the second attitude calculation means, the second attitude calculation means for calculating the attitude of the information processing device, the first calculation result of the attitude obtained by the first attitude calculation means, and the second attitude calculation means. And detecting means for detecting whether or not the magnetic field around the information processing device has changed according to a result of comparison with the second calculation result of the posture, and that the magnetic field has changed in the detecting means. When it detects, it has an estimation means which estimates the attitude | position of the said information processing apparatus using the said 1st calculation result and the said 2nd calculation result.
The present invention also includes a method for driving the information processing apparatus described above, a program for causing a computer to execute the driving method, and a computer-readable storage medium storing the program.

  According to the present invention, even in an environment where the magnetic field around the information processing device is unstable, the posture of the information processing device can be properly estimated.

It is a figure which shows an example of the hardware constitutions of the information processing apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows an example of a function structure of the information processing apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows an example of the process sequence in the drive method of the information processing apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows an example of the detailed process sequence of the magnetic field change detection process in FIG.3 S302. It is a figure which shows an example of the process image of the magnetic field change detection process shown in FIG. It is a flowchart which shows an example of the detailed process sequence of the attitude | position estimation process in step S305 of FIG. It is a figure for demonstrating the effect acquired by the process of the information processing apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart which shows an example of the process sequence in the drive method of the information processing apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows an example of the detailed process sequence of the error rate calculation process in step S801 of FIG. It is a flowchart which shows an example of the detailed process sequence of the attitude | position correction process in step S803 of FIG. It is a figure for demonstrating the error rate calculation process in step S801 of FIG.

  Hereinafter, embodiments (embodiments) for carrying out the present invention will be described with reference to the drawings.

(First embodiment)
First, a first embodiment of the present invention will be described.

  FIG. 1 is a diagram illustrating an example of a hardware configuration of the information processing apparatus 100 according to the first embodiment of the present invention. The information processing apparatus 100 is an apparatus that processes various types of information.

  As shown in FIG. 1, the information processing apparatus 100 is configured to have hardware configurations of a CPU 110, a RAM 120, a ROM 130, an input device 140, a sensor device 150, an output device 160, a driver 170, and a system bus 180. ing.

  The CPU 110 comprehensively controls the operation of the information processing apparatus 100 and performs various processes.

  The RAM 120 temporarily stores programs and data supplied from the ROM 130 and the CPU 110.

  The ROM 130 stores programs that do not need to be changed, various data, and the like. In the present embodiment, it is assumed that a program for the CPU 110 to execute processing according to the present embodiment is stored in the ROM 130.

  The input device 140 inputs, for example, input information input by a user or input information input from an external device via a communication line to the CPU 110.

  The sensor device 150 includes various sensors for measuring the attitude of the information processing apparatus 100. Specifically, in the present embodiment, the sensor device 150 includes a gyro sensor 151, a geomagnetic sensor 152, and an acceleration sensor 153, as shown in FIG.

  The output device 160 outputs various data and various information obtained by the processing of the CPU 110 and the like. For example, a display device can be applied as the output device 160.

  A system bus 180 connects the CPU 110, the RAM 120, the ROM 130, the input device 140, the sensor device 150, the output device 160, and the driver 170 so that they can communicate with each other.

  FIG. 2 is a diagram illustrating an example of a functional configuration of the information processing apparatus 100 according to the first embodiment of the present invention. Here, in FIG. 2, the sensor device 150 shown in FIG.

  As illustrated in FIG. 2, the information processing apparatus 100 includes functions of a sensor data acquisition unit 210, a posture calculation unit 220, a magnetic field change detection unit 230, a posture estimation unit 240, a sensor error calculation unit 250, and a posture correction unit 260. It has a configuration.

  The sensor data acquisition unit 210 performs processing for acquiring sensor data from the sensor device 150. Specifically, the sensor data acquisition unit 210 acquires sensor data of the gyro sensor 151, sensor data of the geomagnetic sensor 152, and sensor data of the acceleration sensor 153.

  The posture calculation unit 220 performs a process of calculating the posture of the information processing apparatus 100 using the sensor data acquired by the sensor data acquisition unit 210. In the present embodiment, the posture calculation unit 220 uses the sensor data of the gyro sensor 151 to calculate the posture of the information processing apparatus 100 and the sensor data of the geomagnetic sensor 152 to process information. A second posture calculation unit 222 that calculates the posture of the apparatus 100 is included.

  The magnetic field change detection unit 230 performs processing for detecting whether or not the magnetic field around the information processing apparatus 100 has changed in order to determine whether or not the environment around the information processing apparatus 100 is unstable. . In the present embodiment, the magnetic field change detection unit 230 obtains the posture calculation result (first calculation result) of the information processing apparatus 100 obtained by the first posture calculation unit 221 and the second posture calculation unit 222. Whether or not the magnetic field around the information processing apparatus 100 has changed is detected according to the result of comparison with the calculated calculation result (second calculation result) of the information processing apparatus 100.

  When the magnetic field change detection unit 230 detects that the magnetic field change has occurred, the posture estimation unit 240 performs processing for estimating the posture of the information processing apparatus 100 based on the calculation result of the posture calculation unit 220. In the present embodiment, when the magnetic field change detection unit 230 detects that the magnetic field change has been detected, the posture estimation unit 240 performs the first calculation result and the second posture calculation obtained by the first posture calculation unit 221. The attitude of the information processing apparatus 100 is estimated using the second calculation result obtained by the unit 222. Hereinafter, the attitude of the information processing apparatus 100 estimated by the attitude estimation unit 240 may be referred to as a “device attitude” as necessary.

  When the magnetic field change detection unit 230 detects that the magnetic field does not change, the sensor error calculation unit 250 calculates an error of the sensor data acquired by the sensor data acquisition unit 210.

  When the magnetic field change detection unit 230 detects that the magnetic field change has occurred, the posture correction unit 260 uses the posture of the information processing apparatus 100 obtained by the posture estimation unit 240 based on the error obtained by the sensor error calculation unit 250. A process of correcting the (device attitude) estimation result is performed.

Here, an example of a correspondence relationship between the hardware configuration of the information processing apparatus 100 illustrated in FIG. 1 and the functional configuration of the information processing apparatus 100 illustrated in FIG. 2 will be described below.
For example, the function components 210 to 260 shown in FIG. 2 are configured from programs stored in the CPU 110 and the ROM 130 shown in FIG. At this time, the CPU 110 shown in FIG. 1 can realize the functions of the function components 210 to 260 shown in FIG. 2 by, for example, developing and executing a program stored in the ROM 130 on the RAM 120. Further, for example, in FIG. 1, when a hardware configuration is substituted for at least a part of the software processing using the CPU 110, arithmetic units and circuits corresponding to the processing of each functional component shown in FIG. 2. Can be configured.

  FIG. 3 is a flowchart illustrating an example of a processing procedure in the driving method of the information processing apparatus 100 according to the first embodiment of the present invention. In the present embodiment, the processing of the flowchart of FIG. 3 is started in response to the activation of the information processing apparatus 100, and thereafter is repeated periodically until an action of turning off the power is performed. In the present embodiment, it is assumed that the period (frame rate) is fixed. However, it may be variable depending on the remaining battery level and load status of the information processing apparatus 100.

  First, in step S <b> 301, the sensor data acquisition unit 210 performs processing for acquiring sensor data from the sensor device 150. Here, the sensor data acquisition unit 210 acquires sensor data of the gyro sensor 151, sensor data of the geomagnetic sensor 152, and sensor data of the acceleration sensor 153.

  Subsequently, in step S302, the magnetic field change detection unit 230 performs a process of detecting whether or not the magnetic field around the information processing apparatus 100 has changed based on the sensor data acquired in step S301.

  Subsequently, in step S303, the magnetic field change detection unit 230 determines whether or not a change in the magnetic field around the information processing apparatus 100 has been detected as a result of the detection process in step S302.

As a result of the determination in step S303, when it is detected that the magnetic field around the information processing apparatus 100 does not change (S303 / No), the process proceeds to step S304.
In step S304, the posture calculation unit 220 detects the sensor data (the sensor data of the gyro sensor 151, the geomagnetic sensor 152, and the acceleration sensor 153, or the geomagnetic sensor because the magnetic field does not change) acquired in step S301. 152 is used to calculate the attitude of the information processing apparatus 100. Thereafter, the process returns to step S301.

On the other hand, as a result of the determination in step S303, when it is detected that the magnetic field around the information processing apparatus 100 has changed (S303 / Yes), the process proceeds to step S305.
In step S305, the posture estimation unit 240 performs processing for estimating the posture of the information processing apparatus 100 (device posture) based on the sensor data acquired in step S301.

  Subsequently, in step S306, for example, the posture estimation unit 240 determines whether or not the online calibration based on the process in step S305 is completed. Here, online calibration is calibration performed after the information processing apparatus 100 is moving and collecting necessary sensor data (magnetic field data) of the geomagnetic sensor 152. This online calibration is performed when the magnetic field around the information processing apparatus 100 is unstable (magnetic field environment change).

  If the online calibration is not completed as a result of the determination in step S306 (S306 / No), the process returns to step S301 to acquire the next sensor data and perform the subsequent processing. On the other hand, if the online calibration is completed as a result of the determination in step S306 (S306 / Yes), the process returns to step S304, calculates the attitude of the information processing apparatus 100, and then returns to step S301.

  FIG. 4 is a flowchart showing an example of a detailed processing procedure of the magnetic field change detection processing in step S302 of FIG.

  First, in step S401, for example, the posture calculation unit 220 acquires from the sensor data acquisition unit 210 the sensor data acquired by the sensor data acquisition unit 210 in step S301 of FIG. Specifically, here, the sensor data of the gyro sensor 151 and the sensor data of the geomagnetic sensor 152 are acquired.

  Subsequently, in step S402, for example, the magnetic field change detection unit 230 (or the posture calculation unit 220) is set, for example, in advance by the input device 140, and the length of the comparison section for detecting the magnetic field change is set. To get. Here, the length of the comparison section can be specified by, for example, 4 frames or 100 ms. Here, for example, the length of time of four sensor frames is acquired as the length of the comparison section. In the subsequent processing, as a method for determining whether or not there is a magnetic field change, the posture calculation result based on the sensor data of the gyro sensor 151 and the posture calculation result based on the sensor data of the geomagnetic sensor 152 are compared in a short comparison section. Is done.

  Subsequently, in step S403, the magnetic field change detection unit 230 causes the first attitude calculation unit 221 to calculate the attitude of the information processing apparatus 100 using the sensor data of the gyro sensor 151 acquired in step S401. Here, for example, it is assumed that the calculation result of the horizontal angle D1 of the comparison section is obtained using the sensor data of the gyro sensor 151.

  In step S404, the magnetic field change detection unit 230 causes the second posture calculation unit 222 to calculate the posture of the information processing apparatus 100 using the sensor data of the geomagnetic sensor 152 acquired in step S401. Here, for example, it is assumed that the calculation result of the horizontal angle D2 of the comparison section is obtained using the sensor data of the geomagnetic sensor 152.

  Subsequently, in step S405, the magnetic field change detection unit 230 calculates the attitude calculation result (first calculation result) of the information processing apparatus 100 obtained in step S403 and the attitude of the information processing apparatus 100 obtained in step S404. The difference from the calculation result (second calculation result) is calculated. Here, it is assumed that the calculation result of | D1-D2 |, which is the difference between the two horizontal angles described above, is obtained.

  Subsequently, in step S406, the magnetic field change detection unit 230 determines whether or not the difference obtained in step S405 is greater than a predetermined value. Here, for example, an addition value D3 of the maximum error of the horizontal angle D1 and the maximum error of the horizontal angle D2 is used as the predetermined value. Here, for example, the value of D3 can be calculated based on the noise values of the gyro sensor 151 and the geomagnetic sensor 152. At this time, the noise values of the gyro sensor 151 and the geomagnetic sensor 152 may be stored in advance in the ROM 130 or the like, or may be measured by the user and input from the input device 140.

As a result of the determination in step S406, if the difference obtained in step S405 is not greater than the predetermined value (S406 / No), the process proceeds to step S407.
In step S407, the magnetic field change detection unit 230 determines that the magnetic field around the information processing apparatus 100 has not changed, and detects that the magnetic field does not change. Specifically, step S407 is processing performed when | D1-D2 | ≦ D3, and determines that the horizontal angle D1 and the horizontal angle D2 described above are substantially the same. Then, when the process of step S407 ends, the process of the flowchart of FIG. 4 ends.

On the other hand, as a result of the determination in step S406, if the difference obtained in step S405 is greater than the predetermined value (S406 / Yes), the process proceeds to step S408.
In step S408, the magnetic field change detection unit 230 determines that the magnetic field around the information processing apparatus 100 has changed, and detects that the magnetic field has changed. Specifically, step S408 is processing performed when | D1-D2 |> D3, and determines that the horizontal angle D1 and the horizontal angle D2 described above are substantially different. Then, when the process of step S408 ends, the process of the flowchart of FIG. 4 ends.

FIG. 5 is a diagram illustrating an example of a processing image of the magnetic field change detection processing illustrated in FIG. 4.
In FIG. 5, an angle change direction 505 indicates the angle change direction of the information processing apparatus 100. The reference position 501 indicates the reference position of the information processing apparatus 100 (the position and orientation at the time of using the change start as a reference).

  An index 502 indicates a posture calculation result (for example, the above-described horizontal angle D1) of the gyro sensor 151 in the comparison section, which is calculated based on the sensor data of the gyro sensor 151 from the reference position 501. An index 503 indicates a posture calculation result (for example, the horizontal angle D2 described above) of the geomagnetic sensor 152 in the comparison section, which is calculated based on the sensor data (magnetic field data) of the geomagnetic sensor 152 from the reference position 501. The index 504 is a difference (for example, a difference between the attitude calculation result of the gyro sensor 151 indicated by the index 502 (for example, the horizontal angle D1 described above) and the attitude calculation result of the geomagnetic sensor 152 indicated by the index 503 (for example, the horizontal angle D2 described above). , | D1-D2 |) described above.

  Although the comparison section is short and the error of the gyro sensor 151 is small, the sensor itself has noise. Therefore, the added value D3 of the maximum error of the horizontal angle D1 and the maximum error of the horizontal angle D2 is the gyro sensor 151 and the geomagnetic sensor 152. Calculate based on the noise value.

  When it is detected that the magnetic field around the information processing device has changed, in general existing technology, only the gyro sensor 151 is used to perform the above-described online calibration (the necessary sensor data of the geomagnetic sensor 152 while the information processing device is moving). (Calibration after collecting (magnetic field data)) starts. At this time, sensor data is required when the information processing apparatus is in various postures. However, it is difficult for the user to move the information processing apparatus so as to collect sufficient sensor data, and it takes time and effort. Therefore, it takes time to collect sufficient sensor data, and as a result, online calibration can take a lot of time. During the online calibration period, errors of the gyro sensor 151 accumulate and increase.

In another general existing technique, when there is a change in the magnetic field, the calibration is manually performed once again. This another calibration is time-consuming and may be difficult to perform immediately depending on the usage situation. In such a case, how to ensure high calculation accuracy in the online calibration period is a problem. At this time, there are the following methods for reducing the error during the online calibration process.
Specifically, after detecting that the magnetic field around the information processing device has changed, some calibration processing is performed based on the collected data without collecting all the calibration data. Then, the error interval of the calibration at that time is calculated. Then, the user calculates the error interval at this time while moving the gyro sensor 151. Then, the attitude of the information processing apparatus is calculated based on the calibration error section at that time and the error section of the gyro sensor 151 at that time.

  FIG. 6 is a flowchart illustrating an example of a detailed processing procedure of the posture estimation process in step S305 of FIG.

  First, in step S601, the posture estimation unit 240 stabilizes the magnetic field change (magnetic field environment change) based on the detection result of the magnetic field change (magnetic field environment change) around the information processing apparatus 100 in step S302 of FIG. Judge whether or not.

As a result of the determination in step S601, if the magnetic field change (magnetic field environment change) is not stable (S601 / No), the process proceeds to step S602.
In step S602, for example, the posture estimation unit 240 performs a process of starting the above-described online calibration.

  Subsequently, in step S603, the posture estimation unit 240 causes the first posture calculation unit 221 to calculate the posture of the information processing apparatus 100 using the sensor data of the gyro sensor 151. Then, when the process of step S603 ends, the process of the flowchart of FIG. 6 ends.

On the other hand, as a result of the determination in step S601, if the magnetic field change (magnetic field environment change) becomes stable (S601 / Yes), the process proceeds to step S604.
In step S604, the posture estimation unit 240 determines whether online calibration is being performed. If the result of this determination is that online calibration processing is not in progress (S604 / No), that is, if online calibration is completed, the orientation of the information processing apparatus 100 can be calculated correctly, so the processing of the flowchart of FIG. To do.

If it is determined in step S604 that online calibration is being performed (S604 / Yes), the process proceeds to step S605.
In step S605, the posture estimation unit 240 causes the second posture calculation unit 222 to calculate the posture of the information processing apparatus 100 using the sensor data of the geomagnetic sensor 152 based on the result of online calibration. Here, for example, it is assumed that the calculation result of the angle D2 of the information processing apparatus 100 is obtained as the attitude of the information processing apparatus 100.

  Subsequently, in step S606, the posture estimation unit 240 calculates an error interval (first error interval) of the calculation result in step S605 based on the result of online calibration. For example, the posture estimation unit 240 calculates the error interval based on the distribution, shape, and similarity of the ellipsoidal sphere in the collected sensor data (magnetic field data) of the geomagnetic sensor 152 in the calculation of the error interval of the online calibration in this step. To do.

  Subsequently, in step S <b> 607, the posture estimation unit 240 calculates an error section (second error section) of the gyro sensor 151 based on the sensor data of the gyro sensor 151 by calculation. For example, in the calculation here, first, it is assumed that the error ratio of the gyro sensor 151 is P that is known in advance. Then, the posture estimation unit 240 acquires an angle D4 that the gyro sensor 151 rotates based on the sensor data of the gyro sensor 151. In this case, the posture estimation unit 240 obtains A = D4 * P as the calculation result of the error section [0, A] of the gyro sensor 151, for example.

  Subsequently, in step S <b> 608, the posture estimation unit 240 causes the first posture calculation unit 221 to calculate the posture of the information processing apparatus 100 using the sensor data of the gyro sensor 151. Here, for example, the calculation result of the angle D1 of the information processing apparatus 100 is obtained as the attitude of the information processing apparatus 100.

  Subsequently, in step S609, the posture estimation unit 240 performs a process of estimating the posture of the information processing apparatus 100 using the calculation results related to the postures in S608 and 605 and the calculation results related to the error sections in S606 and S607. Do. Specifically, the posture estimation unit 240 includes an error interval (first error interval) related to the geomagnetic sensor 152, an error interval (second error interval) related to the gyro sensor 151, the angle of the geomagnetic sensor 152, and the gyro sensor 151. The attitude of the information processing apparatus 100 is estimated by calculating the angle with a weighted average of the angles.

A specific calculation example in step S609 will be described.
For example, it is assumed that the error interval of online calibration obtained at step S606 is [0, B]. In this case, an error is accumulated in the gyro sensor 151, and the error section [0, A] of the gyro sensor 151 at that time can also be calculated in step S607. When the results of the two error sections are obtained, the attitude calculation result of the gyro sensor 151 in step S608 (angle D1 of the information processing apparatus 100) and the attitude calculation result of the geomagnetic sensor 152 in step S605 (angle D2 of the information processing apparatus 100) And the posture D5 of the information processing apparatus 100 is estimated by the following equation.
D5 = (B * D1 + A * D2) / (A + B)

  Then, when the process of step S609 ends, the process of the flowchart of FIG. 6 ends.

  Note that the error section of the gyro sensor in step S607 may be calculated in advance and stored in advance in an internal memory or the like. Moreover, when not holding beforehand, it can also calculate by the attitude | position correction | amendment part 260 in 2nd Embodiment mentioned later.

  FIG. 7 is a diagram for explaining an effect obtained by the processing of the information processing apparatus 100 according to the first embodiment of the present invention. In FIG. 7, the horizontal axis indicates time t, and the vertical axis indicates accuracy a in posture calculation of the information processing apparatus 100. An index 701 indicates a processing result of the information processing apparatus 100 according to the first embodiment of the present invention, and an index 702 indicates a processing result of the existing technology as a comparison target.

  In FIG. 7, at the magnetic field change start 703, online calibration is started, and posture calculation is performed using only sensor data of the gyro sensor 151.

  In FIG. 7, the posture calculation is performed using the sensor data of the gyro sensor 151 during the period when the online calibration is not completed between the start of the magnetic field change 703 and the end of the online calibration 704. Since the error of the gyro sensor 151 is accumulated with the passage of time, in the case of the processing result of the existing technology, the accuracy a is lowered as shown by the dotted line of the index 702 in FIG. At the end of online calibration 704, posture calculation can be performed immediately using the sensor data of the geomagnetic sensor 152, so that posture calculation can be performed again with high accuracy.

  The problem of the processing result of the existing technique indicated by the index 702 is that a posture change (angle change) suddenly occurs when the accuracy a of posture calculation is reduced during online calibration processing and the end of online calibration 704 is reached. That is.

On the other hand, in the information processing apparatus 100 according to the first embodiment of the present invention, during the online calibration process, the posture calculation result using the gyro sensor 151 and the posture calculation result using the geomagnetic sensor 152 are obtained. Since the posture of the information processing apparatus 100 is estimated by using it, as shown by the index 701 in FIG. 7, the accuracy a in posture calculation can be ensured to the maximum even during online calibration processing, and online Even when the calibration is completed 704, the posture calculation result can be output smoothly.
That is, according to the information processing apparatus 100 according to the first embodiment, the posture of the information processing apparatus can be appropriately estimated even in an environment where the magnetic field around the information processing apparatus is unstable. it can.

(Second Embodiment)
Next, a second embodiment of the present invention will be described.

  The hardware configuration of the information processing apparatus according to the second embodiment is the same as the hardware configuration of the information processing apparatus 100 according to the first embodiment shown in FIG. The functional configuration of the information processing apparatus according to the second embodiment is the same as the functional configuration of the information processing apparatus 100 according to the first embodiment shown in FIG.

  When the magnetic field change detection unit 230 detects that the magnetic field has changed, the absolute value of the horizontal angle related to the posture of the information processing apparatus 100 cannot be obtained in the online calibration state, and thus the horizontal angle cannot be corrected. In this case, Pitch and Roll related to the posture of the information processing apparatus 100 can be corrected by detecting the gravitational direction when stationary using the sensor data of the acceleration sensor 153, but the horizontal angle Yaw should be corrected. I can't. Therefore, in the present embodiment, Yaw is corrected using the error of the gyro sensor 151.

  The determination in step S306 in FIG. 3 is based on whether or not the online calibration is completed, but errors in the gyro sensor 151 gradually accumulate under an environment where the magnetic field is unstable. In this case, when online calibration is not completed, the magnetic field cannot be correctly used, and thus the Yaw error cannot be corrected.

  FIG. 8 is a flowchart illustrating an example of a processing procedure in the driving method of the information processing apparatus 100 according to the second embodiment of the present invention. In FIG. 8, the same processing steps as the processing steps shown in FIG.

  In FIG. 8, first, as in step S <b> 301 of FIG. 3, the sensor data acquisition unit 210 performs a process of acquiring sensor data from the sensor device 150. Here, the sensor data acquisition unit 210 acquires sensor data of the gyro sensor 151, sensor data of the geomagnetic sensor 152, and sensor data of the acceleration sensor 153.

  Subsequently, in FIG. 8, similarly to step S <b> 302 of FIG. 3, the magnetic field change detection unit 230 determines whether or not the magnetic field around the information processing apparatus 100 has changed based on the sensor data acquired in step S <b> 301. Perform processing to detect.

  Subsequently, in FIG. 8, similarly to step S <b> 303 in FIG. 3, the magnetic field change detection unit 230 determines whether or not the magnetic field around the information processing apparatus 100 has been detected as a result of the detection process in step S <b> 302. to decide.

As a result of the determination in step S303 in FIG. 8, when it is detected that the magnetic field around the information processing apparatus 100 does not change (S303 / No), the process proceeds to step S304 in FIG.
When the process proceeds to step S304 in FIG. 8, as in step S304 in FIG. 3, the posture calculation unit 220 acquires the sensor data (sensor data of the gyro sensor 151, the geomagnetic sensor 152, and the acceleration sensor 153, or the sensor data acquired in step S301, or Since the magnetic field does not change, processing for calculating the attitude of the information processing apparatus 100 is performed using the sensor data of the geomagnetic sensor 152).

  Subsequently, in step S801, when the magnetic field change detection unit 230 detects that the magnetic field around the information processing apparatus 100 does not change, the sensor error calculation unit 250 detects an error (here, an error rate) of the gyro sensor 151. Is calculated and stored in the internal memory or the like. As a specific calculation method here, the calculation result of the attitude of the information processing apparatus 100 based on the sensor data of the gyro sensor 151 is compared with the calculation result of the attitude of the information processing apparatus 100 in step S304 of FIG. The error rate of the gyro sensor 151 is calculated. For example, when the calculation result of the attitude (angle) using the gyro sensor 151 is J1 = 101.1 ° and the calculation result of the attitude (angle) in step S304 of FIG. 8 is J2 = 100 °, an error occurs. The rate J3 = (J1-J2) /J2=1.1%.

  When the process of step S801 ends, the process returns to step S301 in FIG.

On the other hand, as a result of the determination in step S303 in FIG. 8, if it is detected that the magnetic field around the information processing apparatus 100 has changed (S303 / Yes), the process proceeds to step S305 in FIG.
When the process proceeds to step S305 in FIG. 8, the posture estimation unit 240 estimates the posture of the information processing apparatus 100 (device posture) based on the sensor data acquired in step S301, as in step S305 in FIG. Process.

  Subsequently, in step S802, for example, the posture correction unit 260 determines whether or not the posture estimation result of the information processing apparatus 100 estimated in step S305 of FIG. 8 can be corrected. Here, as a determination criterion of this step, for example, whether or not the online calibration is completed as in step S306 of FIG. 3 can be set as one determination criterion. Furthermore, as another determination criterion of this step, for example, it can be determined whether or not the information processing apparatus 100 is in a stationary state. In this case, for example, whether or not the information processing apparatus 100 is in a stationary state can be determined based on the states of the acceleration sensor 153 and the gyro sensor 151. When the information processing apparatus 100 is stationary, not only Pitch and Roll, but also Yaw can be corrected.

  As a result of the determination in step S802, when the estimation result of the attitude of the information processing apparatus 100 estimated in step S305 in FIG. 8 cannot be corrected (S802 / No), the processing returns to step S301 in FIG.

On the other hand, as a result of the determination in step S802, when the estimation result of the attitude of the information processing apparatus 100 estimated in step S305 in FIG. 8 can be corrected (S802 / Yes), the process proceeds to step S803.
In step S803, the attitude correction unit 260 estimates the attitude of the information processing apparatus 100 estimated in step S305 in FIG. 8 based on the error (here, error rate) of the gyro sensor 151 obtained in step S801. The guess result is corrected. Thereafter, the process returns to step S301 in FIG.

  FIG. 9 is a flowchart illustrating an example of a detailed processing procedure of the error rate calculation processing in step S801 in FIG.

  First, in step S901, for example, the sensor error calculation unit 250 causes the first posture calculation unit 221 to calculate the posture of the information processing apparatus 100 using the sensor data of the gyro sensor 151. Here, for example, it is assumed that the calculation result of the angle A of Pitch, Roll, and Yaw is obtained as the attitude of the information processing apparatus 100.

  Subsequently, in step S902, the sensor error calculation unit 250 acquires the calculation result of the posture of the information processing apparatus 100 in step S304 of FIG. 8 from the posture calculation unit 220. Here, for example, it is assumed that the calculation result of the angle B of Pitch, Roll, and Yaw is obtained as the attitude of the information processing apparatus 100.

  Subsequently, in step S903, the sensor error calculation unit 250 calculates the error of the gyro sensor 151 based on the calculation result obtained in step S901 and the calculation result obtained in step S902. Here, for example, D = A−B is calculated as the error D of the gyro sensor 151.

  Subsequently, in step S904, the sensor error calculation unit 250 calculates the changed angle E of Pitch, Roll, and Yaw based on the sensor data of the gyro sensor 151.

  Subsequently, in step S905, the sensor error calculation unit 250 calculates the error rate of the gyro sensor 151 based on the error of the gyro sensor 151 obtained in step S903 and the changed angle obtained in step S904. To the internal memory. Here, for example, R = D / E is calculated as the error rate R of the gyro sensor 151. When the process of step S905 ends, the process of the flowchart of FIG. 9 ends.

  FIG. 10 is a flowchart illustrating an example of a detailed processing procedure of the posture correction processing in step S803 in FIG.

  First, in step S1001, the attitude correction unit 260 corrects the pitch and roll related to the attitude of the information processing apparatus 100 estimated in step S305 of FIG. 8 based on gravity detection using the sensor data of the acceleration sensor 153. .

  Subsequently, in step S1002, the posture correction unit 260 performs a process of reading the error rate of the gyro sensor 151 obtained in step S801 of FIG.

  Subsequently, in step S <b> 1003, the posture correction unit 260 calculates the angle of Yaw based on the sensor data of the gyro sensor 151.

  Subsequently, in step S1004, the posture correction unit 260, based on the error rate of the gyro sensor 151 read in step S1002 and the Yaw angle calculated in step S1003, the information processing apparatus 100 estimated in step S305 of FIG. Yaw related to the posture is corrected. Then, when the process of step S1004 ends, the process of the flowchart of FIG. 10 ends.

  In the calculation of Yaw, the error rate of the gyro sensor 151 and the error rate of each axis are also fixed. At this time, how to obtain the error rate relationship between Pitch, Roll, and Yaw may be calculated in advance and stored in the internal memory or the like, or the processing of FIG. 8 (for example, S801). The error rate may be obtained from

  At this time, as calculation results, for example, the error rate of Pitch is 1.1%, the error rate of Roll is 1.2%, the error rate of Yaw is 1.3%, and the gyro sensor 151 from the start of magnetic field change to stationary The change angle of each axis is acquired, and it is verified whether the error rate of Pitch and Roll is correct. If the error rate between Pitch and Roll is correct as a verification result, Yaw is also corrected. For example, when the Yaw change angle is A, the corrected result is 101.3% * A. If the error rate of Pitch and Roll is not correct as a verification result, no correction is made.

  FIG. 11 is a diagram for explaining the error rate calculation processing in step S801 in FIG. In FIG. 11, the angle change direction 1101 indicates the angle change direction of the information processing apparatus 100. A reference position 1102 indicates the reference position of the information processing apparatus 100.

  The index 1104 is a posture calculation result D6 of the gyro sensor 151 in a specific section (for example, 100 frames or 60 seconds in length) calculated based on the sensor data of the gyro sensor 151 from the reference position 1102. . The posture calculation result D6 for the index 1104 has an error because the error of the gyro sensor 151 is accumulated in a long section.

  The index 1103 is calculated based on the sensor data (magnetic field data) of the geomagnetic sensor 152 from the reference position 1102, and calculates the attitude of the geomagnetic sensor 152 in a specific section (for example, 100 frames or 60 seconds in length). The result is D7. The posture calculation result D7 in the index 1103 can be used as a correct posture calculation result because the sensor data (magnetic field data) of the geomagnetic sensor 152 can be trusted.

  The index 1105 is a difference | D6−D7 | between the attitude calculation result D6 of the index 1104 and the attitude calculation result D7 of the index 1103. In this case, the calculation formula of the error rate of the gyro sensor 151 is | D6-D7 | / D6.

  According to the information processing apparatus 100 according to the first embodiment, the posture of the information processing apparatus can be more appropriately calculated even in an environment where the magnetic field around the information processing apparatus is unstable. .

(Other embodiments)
The present invention supplies a program that realizes one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in a computer of the system or apparatus read and execute the program This process can be realized. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.
This program and a computer-readable storage medium storing the program are included in the present invention.

  Note that the above-described embodiments of the present invention are merely examples of implementation in practicing the present invention, and the technical scope of the present invention should not be construed as being limited thereto. It is. That is, the present invention can be implemented in various forms without departing from the technical idea or the main features thereof.

100: Information processing apparatus, 150: Sensor device, 151: Gyro sensor, 152: Geomagnetic sensor, 153: Acceleration sensor, 210: Sensor data acquisition unit, 220: Posture calculation unit, 221: First posture calculation unit, 222: Second posture calculation unit, 230: magnetic field change detection unit, 240: posture estimation unit, 250: sensor error calculation unit, 260: posture correction unit

Claims (8)

An information processing apparatus for processing information,
First attitude calculation means for calculating the attitude of the information processing apparatus using sensor data of a gyro sensor;
Second attitude calculating means for calculating the attitude of the information processing device using sensor data of a geomagnetic sensor;
In accordance with a result of comparison between the first calculation result of the posture obtained by the first posture calculation means and the second calculation result of the posture obtained by the second posture calculation means. Detecting means for detecting whether or not the magnetic field around the processing apparatus has changed;
When the detection unit detects that the magnetic field has changed, the estimation unit includes an estimation unit that estimates an attitude of the information processing apparatus using the first calculation result and the second calculation result. Information processing apparatus.   The information according to claim 1, wherein the detection unit detects that the magnetic field has changed when a difference between the first calculation result and the second calculation result is larger than a predetermined value. Processing equipment.   The estimation means obtains a first error interval that is an error interval of online calibration using the geomagnetic sensor and a second error interval that is an error interval of the gyro sensor, and the first calculation result and The information processing apparatus according to claim 1, wherein an attitude of the information processing apparatus is estimated using the second calculation result, the first error section, and the second error section.   The information processing apparatus according to claim 3, wherein the estimation unit obtains the first error section based on a distribution, a shape, and an ellipsoidal similarity in sensor data of the geomagnetic sensor. An error calculating means for calculating an error of the gyro sensor when the detecting means detects that the magnetic field does not change;
When the detection unit detects that the magnetic field has changed, the posture of the information processing apparatus obtained by the estimation unit is estimated based on the error obtained by the error calculation unit and the first calculation result. The information processing apparatus according to claim 1, further comprising: a correction unit that corrects the result. A method for driving an information processing apparatus for processing information,
A first posture calculation step of calculating a posture of the information processing device using sensor data of a gyro sensor;
A second attitude calculation step of calculating the attitude of the information processing device using sensor data of a geomagnetic sensor;
The information according to a result of comparison between the first calculation result of the posture obtained by the first posture calculation step and the second calculation result of the posture obtained by the second posture calculation step. A detection step for detecting whether or not the magnetic field around the processing device has changed;
A step of estimating the posture of the information processing apparatus using the first calculation result and the second calculation result when it is detected in the detection step that the magnetic field has changed. Method of driving information processing apparatus. A program for causing a computer to execute a driving method of an information processing apparatus that processes information,
A first posture calculation step of calculating a posture of the information processing device using sensor data of a gyro sensor;
A second attitude calculation step of calculating the attitude of the information processing device using sensor data of a geomagnetic sensor;
The information according to a result of comparison between the first calculation result of the posture obtained by the first posture calculation step and the second calculation result of the posture obtained by the second posture calculation step. A detection step for detecting whether or not the magnetic field around the processing device has changed;
When the detection step detects that the magnetic field has changed, the computer executes the estimation step of estimating the attitude of the information processing apparatus using the first calculation result and the second calculation result. Program.   A computer-readable storage medium storing the program according to claim 7.

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