JPH1144538A - Method for detecting geomagnetism - Google Patents
Method for detecting geomagnetismInfo
- Publication number
- JPH1144538A JPH1144538A JP21568197A JP21568197A JPH1144538A JP H1144538 A JPH1144538 A JP H1144538A JP 21568197 A JP21568197 A JP 21568197A JP 21568197 A JP21568197 A JP 21568197A JP H1144538 A JPH1144538 A JP H1144538A
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- Prior art keywords
- axis
- magnetic field
- sensor
- sensor output
- reference magnetic
- Prior art date
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- Geophysics And Detection Of Objects (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、地磁気の検出方
法、特に、移動体の方位を検出する方法に関し、磁気セ
ンサの検出値（出力値）を補正する方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting terrestrial magnetism, and more particularly to a method for detecting the orientation of a moving object, and more particularly to a method for correcting a detection value (output value) of a magnetic sensor.
【０００２】[0002]
【従来の技術】従来の地磁気の検出方法における補正方
法としては、移動体を一周もしくはそれ以上旋回させて
移動体固有の磁気量を検知する方法が知られている。2. Description of the Related Art As a correction method in a conventional method for detecting geomagnetism, there is known a method in which a moving body is turned one or more times to detect a magnetic amount unique to the moving body.
【０００３】[0003]
【発明が解決しようとする課題】従来技術は、移動体を
一周旋回させることによって得られたデータより補正を
行うため、旋回場所が一様な磁場空間で無い場合には、
誤った補正を行ってしまい、正しい方位を検出できない
という問題があった。In the prior art, the correction is performed based on data obtained by rotating the moving body one round. Therefore, when the turning place is not a uniform magnetic field space,
There was a problem that an incorrect correction was performed and a correct orientation could not be detected.
【０００４】そこで、本発明の課題は、高精度な補正を
行って、正しい方位を与える地磁気の検出方法を提供す
ることである。[0004] Therefore, an object of the present invention is to provide a method of detecting terrestrial magnetism that gives a correct orientation by performing highly accurate correction.
【０００５】[0005]
【課題を解決するための手段】本発明は、移動体に装着
される地磁気成分を互いに直交する３軸成分（ｘ，ｙ，
ｚ）に分けて検出し、これら３成分に対応した地磁気信
号を出力する地磁気センサと、地磁気信号に基づき移動
体の方位信号を出力する方位演算部と、移動体に３軸
（Ｘ，Ｙ，Ｚ）の基準磁界を与える基準磁界発生装置
と、を用いる地磁気検出の方法であって、基準磁界発生
装置によりＸ軸にＸｃ，Ｙ軸に０，Ｚ軸に０なる磁界を
与えて得られる、ｘ軸のセンサ出力ｘs1，ｙ軸のセンサ
出力ｙs1，ｚ軸のセンサ出力ｚs1と、基準磁界発生装置
によりＸ軸に０，Ｙ軸にＹｃ，Ｚ軸に０なる磁界を与え
て得られる、ｘ軸のセンサ出力ｘs2，ｙ軸のセンサ出力
ｙs2，ｚ軸のセンサ出力ｚs2と，基準磁界発生装置によ
りＸ軸に０，Ｙ軸に０，Ｚ軸にＺｃなる磁界を与えて得
られる、ｘ軸のセンサ出力ｘs3，ｙ軸のセンサ出力ｙs
3，ｚ軸のセンサ出力ｚs3と、を用いて３行３列の行列
式を構成し、前記行列式を解いて、地磁気の検出磁界を
補正する地磁気の検出方法である。SUMMARY OF THE INVENTION According to the present invention, a geomagnetic component mounted on a moving body is converted into three axial components (x, y,
z), a geomagnetic sensor that outputs geomagnetic signals corresponding to these three components, an azimuth calculation unit that outputs an azimuth signal of the mobile object based on the geomagnetic signal, and three axes (X, Y, Z) a reference magnetic field generator for providing a reference magnetic field, which is obtained by applying a magnetic field of Xc to the X axis, 0 to the Y axis, and 0 to the Z axis by the reference magnetic field generator. The x-axis sensor output xs1, the y-axis sensor output ys1, the z-axis sensor output zs1, and the reference magnetic field generator are used to apply a magnetic field of 0 to the X-axis, Yc to the Y-axis, and 0 to the Z-axis. Axis sensor output xs2, y-axis sensor output ys2, z-axis sensor output zs2, and x-axis obtained by applying a magnetic field of 0 to the X-axis, 0 to the Y-axis, and Zc to the Z-axis by the reference magnetic field generator. Sensor output xs3, y-axis sensor output ys
This is a terrestrial magnetism detection method in which a determinant of 3 rows and 3 columns is constructed using the sensor outputs zs3 of the 3 and z axes, and the determinant is solved to correct the terrestrial magnetism detection magnetic field.
【０００６】本発明の検出（補正）方法は、均一度の高
い磁界を発生し得る基準磁界発生装置を用い、一様な基
準磁界中において補正が行われるので、移動体の持つ固
有磁気量が変わらない限り、有効な補正係数が一回の補
正で、高精度に算出できる。The detection (correction) method of the present invention uses a reference magnetic field generator capable of generating a magnetic field with a high degree of uniformity and performs correction in a uniform reference magnetic field. As long as it does not change, the effective correction coefficient can be calculated with high accuracy by one correction.
【０００７】[0007]
【発明の実施の形態】以下、本発明の実施の形態を図面
に基づき説明するEmbodiments of the present invention will be described below with reference to the drawings.
【０００８】図１に、本発明による補正方法の全体概念
図を示す。図１に示すように、地磁気を三軸直交成分に
分けて検出する地磁気センサ１１と、地磁気センサ１１
の検出信号に基づき方位を演算し出力する方位演算部１
２とを組み込んだ移動体１３を、基準磁界発生装置１４
内に設置する。FIG. 1 shows an overall conceptual diagram of a correction method according to the present invention. As shown in FIG. 1, a geomagnetic sensor 11 for detecting geomagnetism by dividing it into three-axis orthogonal components,
Azimuth calculation unit 1 that calculates and outputs the azimuth based on the detection signal of
2 is mounted on a reference magnetic field generator 14.
Install inside.
【０００９】図２は、本発明に用いる地磁気センサの構
造を示し、２１はｘ軸検出用磁気センサ、２２はｙ軸検
出用磁気センサ、２３はｚ軸検出用磁気センサを示し、
互いに直交するよう配置される。個々のセンサ２１，２
２，２３は、地磁気を三軸直交成分に分けて検出する。FIG. 2 shows the structure of a geomagnetic sensor used in the present invention. Reference numeral 21 denotes a magnetic sensor for detecting an x-axis, 22 denotes a magnetic sensor for detecting a y-axis, and 23 denotes a magnetic sensor for detecting a z-axis.
They are arranged to be orthogonal to each other. Individual sensors 21, 22
2, 23 detect the geomagnetism by dividing it into triaxial orthogonal components.
【００１０】図３は、基準磁界発生装置を示し、基準磁
界発生装置は、Ｘ軸基準磁界発生用ヘルムホルツコイル
４１、Ｙ軸基準磁界発生用ヘルムホルツコイル４２、Ｚ
軸基準磁界発生用ヘルムホルツコイル４３と、定電流電
源４４で構成される。この時、Ｘ軸基準磁界発生用ヘル
ムホルツコイル４１とｘ軸検出用磁気センサ２１、Ｙ軸
基準磁界発生用ヘルムホルツコイル４２とｙ軸検出用磁
気センサ２２、Ｚ軸基準磁界発生用ヘルムホルツコイル
４３とｚ軸検出用磁気センサ２３とは、軸を一致させて
いる。FIG. 3 shows a reference magnetic field generator. The reference magnetic field generator includes a Helmholtz coil 41 for generating an X-axis reference magnetic field, a Helmholtz coil 42 for generating a Y-axis reference magnetic field,
It comprises a Helmholtz coil 43 for generating an axial reference magnetic field and a constant current power supply 44. At this time, the Helmholtz coil 41 for generating the X-axis reference magnetic field and the magnetic sensor 21 for detecting the x-axis, the Helmholtz coil 42 for generating the Y-axis reference magnetic field and the magnetic sensor 22 for detecting the y-axis, the Helmholtz coil 43 for generating the Z-axis reference magnetic field and z The axis is aligned with the axis detecting magnetic sensor 23.
【００１１】この状態において、基準磁界発生装置１４
（ヘルムホルツコイル４１，４２，４３）によって、基
準となる磁界を移動体１３に印加し、その時の地磁気セ
ンサ１１の出力を得る。In this state, the reference magnetic field generator 14
The reference magnetic field is applied to the moving body 13 by the (Helmholtz coils 41, 42, 43), and the output of the geomagnetic sensor 11 at that time is obtained.
【００１２】基準磁界発生装置１４に基準磁界となる条
件１（Ｘ軸＝Ｘｃ，Ｙ軸＝０，Ｚ軸＝０）の磁界を与
え、地磁気センサ１１の三軸の出力ｘ＝ｘs1，ｙ＝ｙs
1，ｚ＝ｚs1が得られる（条件１）。A magnetic field under condition 1 (X-axis = Xc, Y-axis = 0, Z-axis = 0), which is a reference magnetic field, is applied to the reference magnetic field generator 14, and three-axis outputs x = xs1, y = ys
1, z = zs1 is obtained (condition 1).
【００１３】次に、基準磁界発生装置１４に基準磁界と
なる条件２（Ｘ軸＝０，Ｙ軸＝Ｙｃ，Ｚ軸＝０）の磁界
を与え、地磁気センサ１１の三軸の出力ｘ＝ｘs2，ｙ＝
ｙs2，ｚ＝ｚs2が得られる（条件２）。Next, a magnetic field under condition 2 (X axis = 0, Y axis = Yc, Z axis = 0) is applied to the reference magnetic field generator 14 as a reference magnetic field, and the triaxial output x = xs2 of the geomagnetic sensor 11 is given. , Y =
ys2, z = zs2 is obtained (condition 2).
【００１４】次に、基準磁界発生装置１４に基準磁界と
なる条件３（Ｘ軸＝０，Ｙ軸＝０，Ｚ軸＝Ｚｃ）の磁界
を与え、地磁気センサ１１の三軸の出力ｘ＝ｘs3，ｙ＝
ｙs3，ｚ＝ｚs3が得られる（条件３）。Next, a magnetic field of condition 3 (X axis = 0, Y axis = 0, Z axis = Zc) is applied to the reference magnetic field generator 14 as a reference magnetic field, and the triaxial output x = xs3 of the geomagnetic sensor 11 is given. , Y =
ys3, z = zs3 is obtained (condition 3).
【００１５】条件１より次式の数１が得られる。なお、
式中、Ａは、ｘ軸検出用磁気センサのＸ軸に対する補正
係数、Ｂは、ｘ軸検出用磁気センサのＹ軸に対する補正
係数、Ｃは、ｘ軸検出用磁気センサのＺ軸に対する補正
係数、Ｄは、ｙ軸検出用磁気センサのＸ軸に対する補正
係数、Ｅは、ｙ軸検出用磁気センサのＹ軸に対する補正
係数、Ｆは、ｙ軸検出用磁気センサのＺ軸に対する補正
係数、Ｇは、ｚ軸検出用磁気センサのＸ軸に対する補正
係数、Ｈは、ｚ軸検出用磁気センサのＹ軸に対する補正
係数、Ｉは、ｚ軸検出用磁気センサのＺ軸に対する補正
係数である。From the condition 1, the following equation 1 is obtained. In addition,
In the formula, A is a correction coefficient of the x-axis detection magnetic sensor with respect to the X-axis, B is a correction coefficient of the x-axis detection magnetic sensor with respect to the Y-axis, and C is a correction coefficient of the x-axis detection magnetic sensor with respect to the Z-axis. , D is a correction coefficient of the y-axis detection magnetic sensor with respect to the X-axis, E is a correction coefficient of the y-axis detection magnetic sensor with respect to the Y-axis, F is a correction coefficient of the y-axis detection magnetic sensor with respect to the Z-axis, G Is a correction coefficient of the z-axis detection magnetic sensor with respect to the X-axis, H is a correction coefficient of the z-axis detection magnetic sensor with respect to the Y-axis, and I is a correction coefficient of the z-axis detection magnetic sensor with respect to the Z-axis.
【００１６】[0016]
【数１】 (Equation 1)
【００１７】同様に、条件２より次式の数２が得られ
る。Similarly, the following equation (2) is obtained from condition 2.
【００１８】[0018]
【数２】 (Equation 2)
【００１９】同じく、条件３より次式の数３が得られ
る。Similarly, the following equation (3) is obtained from the condition (3).
【００２０】[0020]
【数３】 (Equation 3)
【００２１】数１、数２、数３より、下式の数４が得ら
れる。From Expressions 1, 2, and 3, Expression 4 of the following expression is obtained.
【００２２】[0022]
【数４】 (Equation 4)
【００２３】そこで、求める補正係数は下式の数５とな
る。The correction coefficient to be obtained is given by the following equation (5).
【００２４】[0024]
【数５】 (Equation 5)
【００２５】[0025]
【実施例】図３に示すように、呼び径２ｍｍのマグネッ
トワイヤを内径２,７０５ｍｍ（）（Ｘ軸用）、２,９０
５ｍｍ（Ｙ軸用）、２,５０５ｍｍ（Ｚ軸用）に８４タ
ーン巻回したコイルを２個ずつ用意し、２,７０５ｍｍ
（Ｘ軸）、２,９０５ｍｍ（Ｙ軸）、２,５０５ｍｍ（Ｚ
軸）の間隔で３軸（Ｘ軸，Ｙ軸，Ｚ軸）に配置して、Ｘ
軸基準磁界発生用ヘルムホルツコイル４１、Ｙ軸基準磁
界発生用ヘルムホルツコイル４２、Ｚ軸基準磁界発生用
ヘルムホルツコイル４３とした。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG.
Prepare two coils of 84 turns each wound 5 mm (for Y axis) and 2,505 mm (for Z axis), and 2,705 mm
(X axis), 2,905 mm (Y axis), 2,505 mm (Z
3 axes (X axis, Y axis, Z axis) at intervals of
A Helmholtz coil 41 for generating an axial reference magnetic field, a Helmholtz coil 42 for generating a Y-axis reference magnetic field, and a Helmholtz coil 43 for generating a Z-axis reference magnetic field.
【００２６】定電流電源４４を用いて、ヘルムホルツコ
イル４１に３,２２４.７ミリアンペアの電流を流したと
ころ、磁界均一度１ｎＴ、磁界強度６０,０００ｎＴの
Ｘ軸基準磁界が得られた。When a current of 3,224.7 milliamps was passed through the Helmholtz coil 41 using the constant current power supply 44, an X-axis reference magnetic field having a magnetic field uniformity of 1 nT and a magnetic field strength of 60,000 nT was obtained.
【００２７】上記のようにして得られたＸ軸の基準磁界
Ｘｃ６０,０００ｎＴ中に移動体１３を置き、地磁気セ
ンサの出力を測定して得られた出力値は、xs1が６０,４
００ｎＴ、Ys1が−２７０ｎＴ、zs1が１,０３０ｎＴで
あった。The output value obtained by placing the moving body 13 in the X-axis reference magnetic field Xc of 60,000 nT obtained as described above and measuring the output of the geomagnetic sensor is xs1 of 60,4.
00nT, Ys1 was -270nT, and zs1 was 1,030nT.
【００２８】同様にして、Ｙ軸については、ヘルムホル
ツコイル４１に３,４６３.５ミリアンペアの電流を流し
て得たＹｃ６０,０００ｎＴに対して、xs2は１８０ｎ
Ｔ、ys2は６０,３６０ｎＴ、zs2は１,２７０ｎＴであっ
た。Similarly, with respect to the Y axis, xs2 is 180 ns with respect to Yc 60,000 nT obtained by flowing a current of 3,463.5 milliamperes through the Helmholtz coil 41.
T and ys2 were 60,360 nT and zs2 was 1,270 nT.
【００２９】同様にして、Ｚ軸については、ヘルムホル
ツコイル４３に２,９８６.８ミリアンペアの電流を流し
て得たＺｃ６０,０００ｎＴに対して、xs3は１,５００
ｎＴ、ys3は−７００ｎＴ、zs3は５８,６１０ｎＴであ
った。Similarly, on the Z axis, xs3 is 1,500 for Zc 60,000 nT obtained by flowing a current of 2,986.8 milliamperes through the Helmholtz coil 43.
nT and ys3 were -700 nT, and zs3 was 58,610 nT.
【００３０】上記のようにして得られた値を数４に代入
して補正係数を得た。ｘ軸検出用磁気センサのＸ軸に対
する補正係数（Ａ）は、０.９９３８０、ｘ軸検出用磁
気センサのＹ軸に対する補正係数（Ｂ）は、−０.００
２４３、ｘ軸検出用磁気センサのＺ軸に対する補正係数
（Ｃ）は、−０.０２５４６であり、ｙ軸検出用磁気セ
ンサのＸ軸に対する補正係数（Ｄ）は、０.００４２
４、ｙ軸検出用磁気センサのＹ軸に対する補正係数
（Ｅ）は、０.９９３７８、ｙ軸検出用磁気センサのＺ
軸に対する補正係数（Ｆ）は、０.０１１７６であり、
ｚ軸検出用磁気センサのＸ軸に対する補正係数（Ｇ）
は、−０.０１７５６、ｚ軸検出用磁気センサのＹ軸に
対する補正係数（Ｈ）は、−０.０２１４９、ｚ軸検出
用磁気センサのＺ軸に対する補正係数（Ｉ）は、１.０
２３９１であった。A correction coefficient was obtained by substituting the value obtained as described above into Equation 4. The correction coefficient (A) of the x-axis detection magnetic sensor for the X axis is 0.999380, and the correction coefficient (B) of the x-axis detection magnetic sensor for the Y axis is -0.000.
243, the correction coefficient (C) of the x-axis detecting magnetic sensor with respect to the Z-axis is -0.022546, and the correction coefficient (D) of the y-axis detecting magnetic sensor with respect to the X-axis is 0.0042.
4. The correction coefficient (E) of the y-axis detecting magnetic sensor with respect to the Y-axis is 0.999378, and the Z-axis of the y-axis detecting magnetic sensor is
The correction factor (F) for the axis is 0.01176,
Correction coefficient (G) for the X-axis of the magnetic sensor for z-axis detection
Is -0.01756, the correction coefficient (H) of the z-axis detecting magnetic sensor with respect to the Y axis is -0.02149, and the correction coefficient (I) of the z-axis detecting magnetic sensor with respect to the Z axis is 1.0.
2391.
【００３１】上記のようにして得られた、補正係数を用
いた時の検出誤差は、標準磁界測定器（精度ＳＳＳ）を
用いて照合したところ、１０ｎＴ以下、方位角度にして
０.１度以下であり、検出精度は、従来比、１桁向上し
た（従来の検出精度は、約１度）。The detection error obtained by using the correction coefficient obtained as described above was collated using a standard magnetic field measuring instrument (accuracy SSS) and found to be 10 nT or less and azimuth angle of 0.1 degree or less. The detection accuracy is improved by one digit compared to the conventional one (the conventional detection accuracy is about 1 degree).
【００３２】本実施の形態では、３軸の場合で説明した
が、２軸の場合にも適用できることは原理的に明らかで
ある。Although the present embodiment has been described for the case of three axes, it is in principle apparently applicable to the case of two axes.
【００３３】[0033]
【発明の効果】以上、述べた如く、本発明によれば、移
動体内に装着された地磁気検出センサにおいて、移動体
の固有磁界を補正することが可能となり、より高精度に
方位検出が行えることが可能となった。すなわち、本発
明よれば、高精度な補正を行って、正しい方位を与える
地磁気の検出方法が得られる。As described above, according to the present invention, it is possible to correct the intrinsic magnetic field of a moving body in a geomagnetic detection sensor mounted in the moving body, and to perform azimuth detection with higher accuracy. Became possible. That is, according to the present invention, it is possible to obtain a method of detecting geomagnetism that performs accurate correction and gives a correct azimuth.
【図面の簡単な説明】[Brief description of the drawings]
【図１】本発明による検出方法の全体ブロック図。FIG. 1 is an overall block diagram of a detection method according to the present invention.
【図２】本発明に用いる磁気センサの構造図。FIG. 2 is a structural view of a magnetic sensor used in the present invention.
【図３】基準磁界発生装置を示す説明図。FIG. 3 is an explanatory view showing a reference magnetic field generator.
１１ 地磁気検出センサ １２ 方位演算部 １３ 移動体 １４ 基準磁界発生装置 ２１ （ｘ軸検出用）磁気センサ ２２ （ｙ軸検出用）磁気センサ ２３ （ｚ軸検出用）磁気センサ ４１ （Ｘ軸基準磁界発生用）ヘルムホルツコイル ４２ （Ｙ軸基準磁界発生用）ヘルムホルツコイル ４３ （Ｚ軸基準磁界発生用）ヘルムホルツコイル ４４ 定電流電源 Reference Signs List 11 geomagnetic detection sensor 12 azimuth calculation unit 13 moving body 14 reference magnetic field generator 21 (for x-axis detection) magnetic sensor 22 (for y-axis detection) magnetic sensor 23 (for z-axis detection) magnetic sensor 41 (x-axis reference magnetic field generation Helmholtz coil 42 (for generating Y-axis reference magnetic field) Helmholtz coil 43 (for generating Z-axis reference magnetic field) Helmholtz coil 44 Constant current power supply
Claims (1)
直交する３軸成分（ｘ，ｙ，ｚ）に分けて検出し、これ
ら３成分に対応した地磁気信号を出力する地磁気センサ
と、地磁気信号に基づき移動体の方位信号を出力する方
位演算部と、移動体に３軸（Ｘ，Ｙ，Ｚ）の基準磁界を
与える基準磁界発生装置とを用いる地磁気検出の方法で
あって、前記基準磁界発生装置によりＸ軸にＸｃ，Ｙ軸
に０，Ｚ軸に０なる磁界を与えて得られるｘ軸のセンサ
出力ｘs1，ｙ軸のセンサ出力ｙs1，ｚ軸のセンサ出力ｚ
s1と、前記基準磁界発生装置によりＸ軸に０，Ｙ軸にＹ
ｃ，Ｚ軸に０なる磁界を与えて得られる、ｘ軸のセンサ
出力ｘs2，ｙ軸のセンサ出力ｙs2，ｚ軸のセンサ出力ｚ
s2と、前記基準磁界発生装置によりＸ軸に０，Ｙ軸に
０，Ｚ軸にＺｃなる磁界を与えて得られる、ｘ軸のセン
サ出力ｘs3、ｙ軸のセンサ出力ｙs3、ｚ軸のセンサ出力
ｚs3とを用いて得られる３行３列の行列式の解を用いて
地磁気の検出磁界を補正することを特徴とする地磁気の
検出方法。1. A geomagnetic sensor for detecting a geomagnetic component attached to a moving body into three orthogonal components (x, y, z) orthogonal to each other and outputting a geomagnetic signal corresponding to the three components, and a geomagnetic signal. A geomagnetic detection method using an azimuth calculation unit that outputs an azimuth signal of a moving object based on a reference magnetic field, and a reference magnetic field generator that applies a three-axis (X, Y, Z) reference magnetic field to the moving object, An x-axis sensor output xs1, a y-axis sensor output ys1, and a z-axis sensor output z obtained by applying a magnetic field of Xc to the X-axis, 0 to the Y-axis, and 0 to the Z-axis by the generator.
s1 and 0 on the X axis and Y on the Y axis by the reference magnetic field generator.
The x-axis sensor output xs2, the y-axis sensor output ys2, and the z-axis sensor output z obtained by applying a magnetic field of 0 to the c and Z axes.
s2, the x-axis sensor output xs3, the y-axis sensor output ys3, and the z-axis sensor output obtained by applying a magnetic field of 0 to the X axis, 0 to the Y axis, and Zc to the Z axis by the reference magnetic field generator. A method for detecting terrestrial magnetism, comprising correcting a terrestrial magnetism detection magnetic field by using a solution of a determinant of three rows and three columns obtained by using zs3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21568197A JPH1144538A (en) | 1997-07-25 | 1997-07-25 | Method for detecting geomagnetism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21568197A JPH1144538A (en) | 1997-07-25 | 1997-07-25 | Method for detecting geomagnetism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH1144538A true JPH1144538A (en) | 1999-02-16 |
Family
ID=16676405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21568197A Pending JPH1144538A (en) | 1997-07-25 | 1997-07-25 | Method for detecting geomagnetism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH1144538A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1178284A3 (en) * | 2000-08-01 | 2003-05-28 | Seiko Instruments Inc. | Method and system for adjusting an electronic azimuth meter |
| KR100757839B1 (en) | 2006-04-04 | 2007-09-11 | 삼성전자주식회사 | Control system, having control system moving robot apparatus and control method thereof |
| WO2014057506A1 (en) * | 2012-10-08 | 2014-04-17 | Microtest S.R.L. | Test equipment for checking sensors sensitive to magnetic fields |
| JP2022008432A (en) * | 2016-09-26 | 2022-01-13 | マジック リープ， インコーポレイテッド | Calibration of magnetic and optical sensors in virtual reality or augmented reality display system |
-
1997
- 1997-07-25 JP JP21568197A patent/JPH1144538A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1178284A3 (en) * | 2000-08-01 | 2003-05-28 | Seiko Instruments Inc. | Method and system for adjusting an electronic azimuth meter |
| US6662459B2 (en) | 2000-08-01 | 2003-12-16 | Seiko Instruments Inc. | Electronic azimuth meter and timepiece |
| KR100757839B1 (en) | 2006-04-04 | 2007-09-11 | 삼성전자주식회사 | Control system, having control system moving robot apparatus and control method thereof |
| WO2014057506A1 (en) * | 2012-10-08 | 2014-04-17 | Microtest S.R.L. | Test equipment for checking sensors sensitive to magnetic fields |
| JP2022008432A (en) * | 2016-09-26 | 2022-01-13 | マジック リープ， インコーポレイテッド | Calibration of magnetic and optical sensors in virtual reality or augmented reality display system |
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