JPH11505620A - 地磁場の方向の算定のための方法 - Google Patents
地磁場の方向の算定のための方法Info
- Publication number
- JPH11505620A JPH11505620A JP9532219A JP53221997A JPH11505620A JP H11505620 A JPH11505620 A JP H11505620A JP 9532219 A JP9532219 A JP 9532219A JP 53221997 A JP53221997 A JP 53221997A JP H11505620 A JPH11505620 A JP H11505620A
- Authority
- JP
- Japan
- Prior art keywords
- magnetic field
- magnetic
- vector
- const
- tilt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
- G01C17/28—Electromagnetic compasses
Landscapes
- Remote Sensing (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Electromagnetism (AREA)
- Environmental & Geological Engineering (AREA)
- Measuring Magnetic Variables (AREA)
- Geophysics And Detection Of Objects (AREA)
- Navigation (AREA)
- Microwave Tubes (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.装置に固定された磁気的な材料及び電流の磁場によって乱されている可能性 のある地磁場の方向を、三つの磁場センサー及び二つの傾斜感知装置をもってい る一つの電子工学的な磁気コンパスを用いて算定するための方法にして、 当該電子工学的な磁気コンパスがN個の異なる空間的な位置に配置され、 これらのN箇所のそれぞれにおいて、前記傾斜感知装置の信号及び前記磁場 センサーの信号が測定され、且つこれらの信号から傾斜値及び磁場値が算定され 、 これらの傾斜値及び磁場値に基づいて地磁場ベクトルの大きさが、ベクトル 方程式 その際、 を用いて算出され、 その際、Nが当該ベクトル方程式の決定すべきパラメータの数に少なくとも 等しくなければならない、前記の方法。 2.以下のスケール固定、すなわち bg =const.;m11=const.;m11+m22+m33=const.; m11 2+m22 2+m33 2=const.; m11 2+m12 2+...+m33 2=const.;det m=Const.; のうちの一つが選択されることを特徴とする、請求項1に記載の方法。 3.ソフトマグネティックなノイズ場を考慮に入れる必要がない場合に、ΔM= 0とおかれることを特徴とする、請求項1に記載の方法。 4.異なる位置での測定の数Nが与えられている方程式の数よりも大きいときに 、前記磁場ベクトルが最適化計算を用いて算定されることを特徴とする、請求項 1に記載の方法。 5.地磁場ベクトルの大きさが、前記算定された傾斜値及び磁場値に基づいて、 以下の方程式 を付加的に使用して、統計学的な最適化法を用いて算定されることを特徴とす る、請求項1に記載の方法。 6.傾斜感知装置として傾斜センサーが使用されることを特徴とする、請求項1 〜5のいずれか一項に記載の方法。 7.傾斜感知装置として回転率センサー(ジャイロ)が使用され、回転率情報の 統合によって傾斜角が導出されることを特徴とする、請求項1〜5のいずれか一 項に記載の方法。 8.傾斜感知装置としてエンコーダが使用され、当該エンコーダによって基準点 に関して角度が測定されることを特徴とする、請求項1〜5のいずれか一項に記 載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19609762A DE19609762C1 (de) | 1996-03-13 | 1996-03-13 | Verfahren zur Bestimmung der Richtung des Erdmagnetfeldes |
DE19609762.2 | 1996-03-13 | ||
PCT/EP1997/000583 WO1997034125A1 (de) | 1996-03-13 | 1997-02-10 | Verfahren zur bestimmung der richtung des erdmagnetfeldes |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH11505620A true JPH11505620A (ja) | 1999-05-21 |
JP3656095B2 JP3656095B2 (ja) | 2005-06-02 |
Family
ID=7788097
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP53221997A Expired - Lifetime JP3656095B2 (ja) | 1996-03-13 | 1997-02-10 | 地磁場の方向の算定のための方法 |
Country Status (11)
Country | Link |
---|---|
US (1) | US6009629A (ja) |
EP (1) | EP0826137B1 (ja) |
JP (1) | JP3656095B2 (ja) |
KR (1) | KR100429931B1 (ja) |
CN (1) | CN1089433C (ja) |
AT (1) | ATE200571T1 (ja) |
AU (1) | AU703786B2 (ja) |
CA (1) | CA2220346C (ja) |
DE (2) | DE19609762C1 (ja) |
NO (1) | NO323891B1 (ja) |
WO (1) | WO1997034125A1 (ja) |
Families Citing this family (42)
Publication number | Priority date | Publication date | Assignee | Title |
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US6266623B1 (en) | 1994-11-21 | 2001-07-24 | Phatrat Technology, Inc. | Sport monitoring apparatus for determining loft time, speed, power absorbed and other factors such as height |
US7386401B2 (en) * | 1994-11-21 | 2008-06-10 | Phatrat Technology, Llc | Helmet that reports impact information, and associated methods |
US8280682B2 (en) | 2000-12-15 | 2012-10-02 | Tvipr, Llc | Device for monitoring movement of shipped goods |
CA2441226C (en) * | 2000-07-26 | 2013-03-12 | Northern Digital, Inc. | Method for determining the position of a sensor element |
DE10037019A1 (de) * | 2000-07-29 | 2002-02-07 | Fischer Artur Werke Gmbh | Vorrichtung zur Kontrolle einer Richtung einer Bohrachse einer Handbohrmaschine |
US6539639B2 (en) * | 2000-12-06 | 2003-04-01 | Honeywell International Inc. | Monitoring accuracy of an electronic compass |
US7171331B2 (en) | 2001-12-17 | 2007-01-30 | Phatrat Technology, Llc | Shoes employing monitoring devices, and associated methods |
US7031875B2 (en) * | 2001-01-24 | 2006-04-18 | Geo Vector Corporation | Pointing systems for addressing objects |
JP4244561B2 (ja) * | 2001-07-10 | 2009-03-25 | ヤマハ株式会社 | 方位測定機能を有する携帯型電子装置 |
US6860023B2 (en) * | 2002-12-30 | 2005-03-01 | Honeywell International Inc. | Methods and apparatus for automatic magnetic compensation |
US6836971B1 (en) * | 2003-07-30 | 2005-01-04 | Honeywell International Inc. | System for using a 2-axis magnetic sensor for a 3-axis compass solution |
DE602004024333D1 (de) * | 2003-12-22 | 2010-01-07 | Asahi Kasei Emd Corp | Azimut-messeinrichtung |
DE102005017320A1 (de) * | 2004-04-17 | 2005-11-10 | Vectronix Ag | Verfahren zum Schätzen der Genauigkeit azimutaler Ausrichtungen und tragbares Zielgerät |
CN101726291B (zh) * | 2004-10-07 | 2012-02-15 | 雅马哈株式会社 | 地磁检测装置 |
US7437257B2 (en) * | 2004-10-07 | 2008-10-14 | Yamaha Corporation | Geomagnetic sensor and geomagnetic sensor correction method, temperature sensor and temperature sensor correction method, geomagnetism detection device |
JP4657742B2 (ja) * | 2005-01-27 | 2011-03-23 | パナソニック株式会社 | 携帯端末装置 |
WO2007047889A2 (en) | 2005-10-18 | 2007-04-26 | Phatrat Technology, Llc | Shoe wear-out sensor, body-bar sensing system, unitless activity assessment and associated methods |
US7643895B2 (en) * | 2006-05-22 | 2010-01-05 | Apple Inc. | Portable media device with workout support |
US20070271116A1 (en) | 2006-05-22 | 2007-11-22 | Apple Computer, Inc. | Integrated media jukebox and physiologic data handling application |
US8073984B2 (en) * | 2006-05-22 | 2011-12-06 | Apple Inc. | Communication protocol for use with portable electronic devices |
US9137309B2 (en) * | 2006-05-22 | 2015-09-15 | Apple Inc. | Calibration techniques for activity sensing devices |
US20070270663A1 (en) * | 2006-05-22 | 2007-11-22 | Apple Computer, Inc. | System including portable media player and physiologic data gathering device |
FR2902197B1 (fr) * | 2006-06-07 | 2008-07-25 | Univ Bretagne Occidentale Etab | Procede de localisation d'un objet magnetique, produit programme d'ordinateur, moyen de stockage et dispositif de localisation correspondants |
US7451549B1 (en) | 2006-08-09 | 2008-11-18 | Pni Corporation | Automatic calibration of a three-axis magnetic compass |
US7913297B2 (en) | 2006-08-30 | 2011-03-22 | Apple Inc. | Pairing of wireless devices using a wired medium |
US7813715B2 (en) | 2006-08-30 | 2010-10-12 | Apple Inc. | Automated pairing of wireless accessories with host devices |
US7698101B2 (en) | 2007-03-07 | 2010-04-13 | Apple Inc. | Smart garment |
CN101241009B (zh) * | 2007-12-28 | 2010-06-09 | 北京科技大学 | 一种磁电子罗盘误差补偿方法 |
US8108171B2 (en) * | 2009-09-14 | 2012-01-31 | Honeywell International, Inc. | Systems and methods for calibration of gyroscopes and a magnetic compass |
US8548766B2 (en) | 2009-09-14 | 2013-10-01 | Honeywell International Inc. | Systems and methods for gyroscope calibration |
JP5849448B2 (ja) * | 2011-06-14 | 2016-01-27 | リコーイメージング株式会社 | 3軸電子コンパスを用いた方位測定方法および方位測定装置 |
US9021709B2 (en) * | 2012-11-13 | 2015-05-05 | Blackberry Limited | Electronic device magnetic interference indication method |
EP2824421B1 (en) | 2013-07-08 | 2016-06-29 | Vectronix AG | Digital Magnetic Compass Compensation |
TWI509271B (zh) * | 2013-12-09 | 2015-11-21 | Voltafield Technology Corp | 磁場感測器與使用該磁場感測器的電子羅盤 |
EP2930466B1 (de) | 2014-04-09 | 2018-07-18 | Safran Vectronix AG | Handhaltbares Beobachtungsgerät mit einem digitalen Magnetkompass |
EP3115738B1 (de) | 2015-07-06 | 2020-09-02 | Safran Vectronix AG | Optoelektronisches messgerät und verfahren zur störungserkennung |
EP3249353B1 (de) | 2016-05-24 | 2021-09-08 | Safran Vectronix AG | Optoelektronisches messgerät mit magnetkompass und kompensationsfunktionalität |
FR3052858B1 (fr) | 2016-06-21 | 2020-04-03 | Thales | Procede d'estimation d'une direction d'orientation absolue d'un systeme optronique |
CN106522924B (zh) * | 2016-11-15 | 2020-01-07 | 北京恒泰万博石油技术股份有限公司 | 一种随钻测量中方位角的获取方法 |
EP3367059B1 (de) | 2017-02-28 | 2022-08-24 | Safran Vectronix AG | Optoelektronisches messgerät mit magnetkompass und kompensationsfunktionalität |
US10775450B1 (en) | 2020-03-28 | 2020-09-15 | QuSpin, Inc. | Zero field parametric resonance magnetometer with triaxial sensitivity |
CN113237477B (zh) * | 2021-04-27 | 2023-03-31 | 中国科学院电工研究所 | 一种用于地磁导航的仿生地磁传感系统 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4539760A (en) * | 1982-10-12 | 1985-09-10 | Plessey Overseas Ltd. | Compass |
DE3345818A1 (de) * | 1983-12-17 | 1985-06-27 | Robert Bosch Gmbh, 7000 Stuttgart | Verfahren zur ermittlung von stoerfeldern in fahrzeugen mit einem elektronischen kompass |
US4698912A (en) * | 1985-12-11 | 1987-10-13 | The Laitram Corporation | Magnetic compass calibration |
IL78889A (en) * | 1986-05-23 | 1989-09-28 | Elbit Computers Ltd | Electronic magnetic compass system |
JPH0629729B2 (ja) * | 1986-06-16 | 1994-04-20 | 三菱電機株式会社 | 移動体用方位検出装置 |
US4807462A (en) * | 1987-04-03 | 1989-02-28 | Chrysler Motors Corporation | Method for performing automatic calibrations in an electronic compass |
JPH051914A (ja) * | 1991-06-25 | 1993-01-08 | Pioneer Electron Corp | 着磁ベクトル補正方法 |
US5187872A (en) * | 1992-04-02 | 1993-02-23 | Her Majesty The Queen In Right Of Canada, As Represented By The Minister Of Communications | Automatic calibration of magnetic compasses |
-
1996
- 1996-03-13 DE DE19609762A patent/DE19609762C1/de not_active Expired - Fee Related
-
1997
- 1997-02-10 DE DE59703342T patent/DE59703342D1/de not_active Expired - Lifetime
- 1997-02-10 CA CA002220346A patent/CA2220346C/en not_active Expired - Lifetime
- 1997-02-10 CN CN97190152A patent/CN1089433C/zh not_active Expired - Lifetime
- 1997-02-10 KR KR1019970708077A patent/KR100429931B1/ko not_active IP Right Cessation
- 1997-02-10 EP EP97904399A patent/EP0826137B1/de not_active Expired - Lifetime
- 1997-02-10 AT AT97904399T patent/ATE200571T1/de active
- 1997-02-10 WO PCT/EP1997/000583 patent/WO1997034125A1/de active IP Right Grant
- 1997-02-10 JP JP53221997A patent/JP3656095B2/ja not_active Expired - Lifetime
- 1997-02-10 US US08/945,797 patent/US6009629A/en not_active Expired - Lifetime
- 1997-02-10 AU AU17227/97A patent/AU703786B2/en not_active Expired
- 1997-11-10 NO NO19975154A patent/NO323891B1/no not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
NO975154D0 (no) | 1997-11-10 |
WO1997034125A1 (de) | 1997-09-18 |
NO975154L (no) | 1998-01-09 |
CN1181808A (zh) | 1998-05-13 |
ATE200571T1 (de) | 2001-04-15 |
CA2220346C (en) | 2005-09-06 |
AU1722797A (en) | 1997-10-01 |
AU703786B2 (en) | 1999-04-01 |
US6009629A (en) | 2000-01-04 |
DE19609762C1 (de) | 1997-04-03 |
CA2220346A1 (en) | 1997-09-18 |
JP3656095B2 (ja) | 2005-06-02 |
EP0826137A1 (de) | 1998-03-04 |
KR19990014735A (ko) | 1999-02-25 |
KR100429931B1 (ko) | 2004-07-16 |
CN1089433C (zh) | 2002-08-21 |
EP0826137B1 (de) | 2001-04-11 |
DE59703342D1 (de) | 2001-05-17 |
NO323891B1 (no) | 2007-07-16 |
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