KR101556504B1 - Method for mutual revising sensor value of plural and apparatus thereof - Google Patents

Abstract

The present invention relates to a mutual correction method for multiple sensor values and an apparatus for the same. Particularly, when a sign of a measured value of each sensor installed on a terminal device is changed due to limit of a sign expression range, calculation with respect to rotation angles of each sensor is performed and mutual correction is performed by comparing the rotation angles. Therefore, not only the rotation angles, obtained by a geomagnetic sensor and an acceleration sensor, but also a calculation value, calculated by using the angular velocity of a gyroscope sensor, are obtained, and then a motion of the terminal device can be determined by applying an angle value and a sign with high reliability by a process of comparing the signs of two values. The mathematical limitation, caused by an angle expression range, is overcome, and the reliability of a motion-based service using a sensor can be increased by applying a method for identifying a more accurate rotation angle and a more accurate sign of the terminal at present by a mutual correction process.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of compensating a plurality of sensor values,

The present invention relates to a method of correcting sensor values during operation recognition using a plurality of sensors and an apparatus therefor, and more particularly, A plurality of sensor value mutual correction methods for performing an arithmetic operation on the rotational angles of the respective sensors and comparing the rotational angles with each other to perform mutual correction, and an apparatus therefor.

With the development of the mobile communication network and the development of the specification of the terminal device, the mobile communication terminal device has become a necessity of modern people and has evolved into a total entertainment device beyond the category of the conventional simple communication device or information providing device.

Such terminal devices are spread not only in telephonic functions but also in various hardware, and diversified without being limited to telephone functions. In particular, various types of sensors mounted on a terminal device have been improved and performance has been improved, and many services utilizing sensors have been introduced.

Sensors mounted on the terminal devices include acceleration, geomagnetism, gyro, proximity, and illumination. Recently, temperature, humidity, and air pressure sensors are also mounted. Meanwhile, along with an acceleration sensor or a gyro sensor for sensing the operation of the user's terminal, a proximity sensor and a motion sensor that detect the user's operation without the direct movement of the terminal are also mounted on the terminal.

Here, the user motion recognition using the proximity sensor and the illumination sensor is simple in the recognition method, so that the motion recognition error is not large. However, when the terminal device itself detects motion by utilizing the geomagnetic sensor, the acceleration sensor, and the gyro sensor, there is a problem that the accuracy of recognition increases if the value range is not clearly specified. Particularly, since the range of values that can be represented by the sensors is limited, when the rotation and the movement are increased, the magnitude and the sign of the measurement value can be suddenly changed, and it is difficult to accurately determine the operation of the terminal device The error range can be increased. Due to these mathematical limitations, the range of sign expressions that can be expressed as measured values is limited.

Korean Registered Patent No. 10-1349347 B1, Registered Jan. 02, 2014 (Name: Smart Object Gyro Sensor Based Front Object Creation System and Method for Augmented Reality)

The present invention is limited in the range of values that can be represented by conventional sensors, so that when the rotation and the movement are increased, the magnitude and sign of the measurement value can be changed suddenly, And it is an object of the present invention to solve the problem that it is difficult to judge and the error range may become large. A plurality of sensor value mutual correction methods capable of performing an arithmetic operation on an angle and comparing rotational angles and performing mutual correction, and an apparatus therefor.

According to another aspect of the present invention, there is provided a method of compensating for a plurality of sensor values, comprising the steps of: a terminal collecting sensor values through n sensors; Calculating angles with respect to the X, Y, and Z axes by comparing the angular ranges corresponding to the sensor values by the terminal device, and determining angle codes for the respective sensor values; Converting the terminal device into a same angle code by adding a predetermined value to one angle, and performing a mutual correction by assigning predetermined weights to the angle of the sensor value for each sensor.

In the plurality of sensor value mutual correction methods according to the present invention, the converting step may include the steps of confirming whether the terminal device confirms the sensor value and the sensor value having another sign among the angles corresponding to the sensor value, When the terminal has a sensor value having a sign, converting the terminal into a code having the same angle as the angle of the other sensor value by applying an operation of adding or subtracting 180 degrees or 360 degrees according to the range of the code representation of each axis of the sensor do.

In the method of mutual correction of a plurality of sensor values according to the present invention, the step of performing the mutual correction may include the step of performing a mutual correction of the sensor value (a) and the sensor value (a) The cumulative rotation angle c is set to a weight having a constant value, and the weight is set based on the sensitivity of the plurality of sensors, the type of the sensor, It is adjusted according to the type of sensor.

In the plurality of sensor value mutual correction methods according to the present invention, the mutual correction may be performed when the terminal device does not include the value of the cumulative rotation angle c in the Y-axis angle expression range, (C) is added or subtracted 360 degrees from the cumulative angle of rotation (c) to provide a rotation angle with the opposite sign, and the value of the cumulative rotation angle (c) is not included in the angle expression range of the X axis Otherwise, the recognition value for the motion is determined to be the opposite sign, and the cumulative rotation angle (c) is added or subtracted 180 degrees, and finally the rotation angle with the opposite sign is provided.

In the plurality of sensor value mutual correction methods according to the present invention, the step of performing the mutual correction may include a step of, when the value of the cumulative rotational angle c is included in the angular expression range of the Y axis, When the value of the cumulative rotation angle c is included in the angle expression range of the X axis, the motion recognition value is determined to be the same sign , And provides an accumulated rotation angle (c) according to the X-axis code representation range.

In the plurality of sensor value mutual correction methods according to the present invention, the step of performing the mutual correction may include a step of comparing a plurality of n sensors, when the number of sensors is n, c).

In the plurality of sensor value mutual correction methods according to the present invention, the step of performing the mutual correction may be performed by checking the sign of the values of the accumulated rotational angle (c) obtained by the terminal, And the average value is calculated for a relatively large number of codes.

In the plurality of sensor value mutual correction methods according to the present invention, the mutual correction may be performed by extracting the highest weight among the weights of the sensors used for the respective values of the accumulated rotation angles (c) The weight values for the respective values are summed by the same codes, and then compared. The weighted summed value is determined as the final value according to the comparison result.

Further, in the plurality of sensor value mutual correction methods according to the present invention, the step of performing mutual correction may further include a step in which the terminal device performs the motion recognition for the specific application by reflecting the rotation angle by the mutual correction do.

A terminal device according to an embodiment of the present invention includes a sensor module for collecting sensor values through n sensors when movement of the terminal device is detected, And an angle code verification module for comparing the angle ranges corresponding to the sensor values and verifying the angle codes for the respective sensor values. When the angle codes are different, Angle code conversion module for converting the angles to the angle code, and a mutual correction performing module for performing mutual correction by assigning predetermined weights to the angles of the sensor values for the respective sensors.

In addition, in the terminal device according to the present invention, the sensor module includes a geomagnetism sensor, an acceleration sensor, a gyro sensor, a proximity sensor, an illuminance sensor, a temperature sensor, a humidity sensor, or an air pressure sensor for sensing movement of the terminal.

As another means for solving the problem of the present invention, there is provided a computer readable recording medium on which a program for executing a plurality of sensor value mutual correction methods is recorded.

According to the present invention, not only the rotational angle obtained through the geomagnetism sensor and the acceleration sensor but also the calculated value using the rotational angular velocity of the gyro sensor is detected and then the value and sign of the highly reliable angle are applied It can be judged as the movement of the terminal apparatus.

In addition, by applying the method of confirming the rotation angle and sign of the current terminal device more accurately through the mutual correction process, it is possible to overcome the mathematical limit caused by the range of the angular expression and to improve the reliability of the motion based service using the sensor .

1 is a diagram illustrating a configuration of a terminal apparatus according to an embodiment of the present invention.
2 is a view for explaining a sensor module of a terminal device according to the present invention.
FIG. 3 is a flowchart for explaining a plurality of sensor value mutual correction methods according to an embodiment of the present invention.
FIGS. 4A and 5B are diagrams for explaining a plurality of sensor value mutual correction methods according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description and the accompanying drawings, detailed description of well-known functions or constructions that may obscure the subject matter of the present invention will be omitted. It should be noted that the same constituent elements are denoted by the same reference numerals as possible throughout the drawings.

The terms and words used in the present specification and claims should not be construed to be limited to ordinary or dictionary meanings and the inventor is not limited to the concept of terminology for describing his or her invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention, and not all of the technical ideas of the present invention are described. Therefore, It is to be understood that equivalents and modifications are possible.

Hereinafter, a terminal device according to an embodiment of the present invention includes a plurality of sensors, and can recognize a user's operation by sensing a sensor value according to movement of the terminal device. The mobile communication terminal device will be described as a representative example The terminal device is not limited to the mobile communication terminal device but can be applied to various terminal devices such as all information communication devices, multimedia terminal devices, wired terminal devices, fixed terminal devices and IP (Internet Protocol) terminal devices. In addition, the terminal device may be a mobile phone, a portable multimedia player (PMP), a mobile Internet device (MID), a smart phone, a desktop, a tablet PC, a notebook, ) And an information communication device, and the like can be advantageously used when the mobile terminal device has various mobile communication specifications.

A plurality of sensor value mutual correction methods will be described assuming that the first sensor among the sensors according to the embodiment of the present invention is a geomagnetism sensor and an acceleration sensor and that the second sensor is a gyro sensor, The present invention is not limited to the assumed sensor, and various sensors of various kinds are applicable. The number of sensors according to the embodiment of the present invention is not limited to the first sensor and the second sensor but may be any number of sensors (three or more sensors) .

FIG. 1 is a diagram illustrating a configuration of a terminal device according to an embodiment of the present invention, and FIG. 2 is a view for explaining a sensor module of a terminal device according to the present invention.

1 and 2, a terminal device 100 according to the present invention includes a sensor module 10, an angle calculation module 20, an angle code verification module 30, an angle code conversion module 40, Module 50 as shown in FIG. Here, the sensor module 10 includes a plurality of sensors such as a geomagnetism sensor 10a, an acceleration sensor 10b, and a gyro sensor 10c.

The sensor module 10 includes an acceleration sensor, a gyro sensor, a geomagnetism sensor, a proximity sensor, an illuminance sensor, a temperature sensor, a humidity sensor, an air pressure sensor Or a sensor such as a motion sensor.

Here, the sensor module 10 collects sensor values for sensing a change in position and operation through a geomagnetic sensor, an acceleration sensor, and a gyro sensor, and acquires sensor data for X, Y, and Z axis RAW data, Roll, and Pitch. In particular, the geomagnetic sensor and the acceleration sensor can measure the value of the gravitational acceleration acting on the earth, and it is possible to determine how the terminal device 100 is placed. For example, if the terminal device 100 is laid on a ground, the Z axis is affected by the gravitational acceleration and outputs a value of about 1G (= 9.8 m / s2). Using this characteristic, it is possible to grasp the absolute angle of the pitch (X-axis rotation angle) and Roll (Y-axis rotation angle) of the terminal device 100.

On the other hand, the gyro sensor measures the angular velocity of rotation of the terminal device 100 via three axes (X, Y, and Z axes) like the geomagnetic sensor and the acceleration sensor. It is possible to grasp through which direction the terminal device 100 is rotated at what speed through the gyro sensor. At this time, the gyro sensor outputs a convergence value to 0 when the terminal device 100 does not move, and expresses the degree of rotation as a value based on each axis when the terminal device 100 rotates. Thus, it can be determined whether or not the terminal device 100 has actually rotated.

Particularly, when the movement of the terminal device 100 is sensed, the sensor module 10 according to the present invention detects sensor values (a (a) and a (b)) for each sensor through a specific sensor (a geomagnetic sensor and an acceleration sensor) , b) are collected. In addition, the sensor module 10 provides information on the sensitivity to each sensor, the type of the sensor, and the type of the sensor. This information about the sensor is used for weight application when calculating the cumulative rotation angle.

The angle calculation module 20 performs a rotation vector and a matrix operation on the sensor value a of the specific sensor and the sensor value b of the other sensor collected through the sensor module 10 to calculate X, Calculate the angle. In addition, the angle calculation module 20 functions to collect the sensor measurement values collected through the sensor module 10. That is, the angle calculation module 20 integrates the sensor measurement values into a form capable of calculating a rotation matrix, a direction vector, an absolute angle, a relative angle, a matrix, and the like in order to utilize the sensor measurement value as motion recognition information.

The angle sign verification module 30 compares the sensor ranges a and b corresponding to the sensor values a and b calculated by the angle calculation module 20, Check the sign.

The angle code conversion module 40 compares the angles of the angles with respect to one angle (an angle with respect to the sensor value a or an angle with respect to the sensor value b) The constant value is added and converted to the same angle code. That is, the angle code conversion module 40 checks the sensor value (a) and the sensor value (b) to see if there is a sensor value having another sign among the angles corresponding to the sensor value.

When there is a sensor value having a different sign, the angle code conversion module 40 converts the angle code of the sensor to 180 degrees or 360 degrees so as to have the same sign as the angle of the other sensor values. This is because the accumulated sum of the first sensor value (a) and the second sensor value (b) is maximum 180 ° in the absolute range of -90 ° to 90 ° with respect to the X-axis, ), The cumulative sum of the sensor value (a) and the sensor value (b) is maximum 270 ° in the absolute range of -180 ° to 180 °. The reason why the cumulative sum is 270 degrees at maximum is that when the sign is different from 0 to 180 degrees which is the absolute range of the sensor value b, Accumulating up to the range of 90 degrees may waste resources depending on the calculation process, so that the range of angles is limited to 90 degrees to 180 degrees and the range of 90 degrees is accumulated.

The mutual correction module 50 performs mutual correction by assigning predetermined weights to the angles of the sensor value a and the rotation angle of the sensor value b, respectively. At this time, the mutual correction module 50 generates the range of the cumulative rotational angle c by adding the converted sensor value b to be the same sign as the sensor value a and the sensor value a, c) is set to a weight having a constant value. Here, the weights are adjusted according to the sensitivity of a plurality of sensors, the types of sensors, and the types of sensors. The method of calculating the cumulative rotational angle c uses Equation (1).

a: first sensor value

b: second sensor value

c: Cumulative rotation angle

weight: Weight per sensor (note that the sum of weights for all sensor values is 1)

The mutual correction module 50 determines that the recognition value of the motion is negative (-) code when the cumulative rotation angle c is positive (+) and exceeds the positive (+) sign expression range of the Y axis Subtract 360 째 from the cumulative rotational angle c, and finally provide the cumulative rotational angle c with a negative (-) sign. When the value of the cumulative rotation angle c is negative (-) and exceeds the negative (-) sign expression range of the Y axis, the mutual correction module 50 sets the recognition value of the motion as a positive (+) sign And then 360 ° is added to the cumulative rotational angle c, and finally a rotational rotational angle c having a positive (+) sign is provided.

On the other hand, when the value of the cumulative rotation angle c is positive (+) and does not exceed the positive (+) sign expression range of the Y axis, the mutual correction module 50 outputs the recognition value for the motion as a positive And maintains the cumulative rotational angle c to provide the cumulative rotational angle c. When the value of the cumulative rotation angle c is negative and does not exceed the negative sign range of the Y axis, the mutual correction module 50 sets the recognition value for the motion as a negative (-) sign And maintains the cumulative rotational angle c, and provides an accumulated rotational angle c thereof.

The mutual correction module 50 determines that the recognition value of the motion is a negative sign if the cumulative rotation angle c is positive and exceeds the positive sign range of the X axis , And 180 ° according to the range of the X-axis code representation to provide an accumulated rotational angle c with a negative (-) sign. When the accumulated rotation angle c is negative (-) and exceeds the negative (-) sign expression range of the X axis, the mutual correction module 50 sets the recognition value of the motion as a positive (+) sign And applies 180 degrees according to the X-axis code representation range to finally provide an accumulated rotation angle (c) having a positive (+) sign.

On the other hand, when the cumulative rotation angle c is positive (+) but does not exceed the positive (+) sign expression range of the X axis, the mutual correction module 50 outputs the recognition value for the motion as a positive , And provides an accumulated rotation angle (c) according to the X-axis code representation range. When the value of the cumulative rotation angle c is negative and does not exceed the negative sign range of the X axis, the mutual correction module 50 sets the recognition value for the motion as a negative (-) sign And maintains the cumulative rotational angle c, and provides an accumulated rotational angle c thereof.

The terminal device 100 performs a process of recognizing an operation according to a sensor measurement value. At this time, the terminal device 100 confirms whether the designated operation has been performed by the sensor measurement value, and the motion recognition algorithm can be applied to this. That is, the terminal device 100 may perform motion recognition for a specific application by reflecting a rotation angle by mutual correction.

In addition, the number of sensors according to another embodiment of the present invention is not limited to the first sensor and the second sensor, but may be any one of n sensors (three or more sensors) . That is, the case where the terminal device 100 performs the sensor value mutual correction using three or more sensors will be described.

The terminal device 100 may include a first sensor and a second sensor, a first sensor and a third sensor, a second sensor and a third sensor for correcting the sensor value correction for the first sensor, the second sensor, And compares the sensor values with each other to calculate respective cumulative rotational angles (c). At this time, since the number of cases in which c can be extracted is calculated by comparing two sensors of n according to Equation (1), it is possible to obtain cumulative rotation angles of _n C? Pieces (C is a combination). For example, according to the correction of the sensor value using the first sensor, the second sensor, and the third sensor, the total number of cumulative rotational angles is ₃ C ₂ cumulative rotational angles. Further, in the combination method for obtaining the number of cumulative rotation angles, it is possible to eliminate redundant combinations.

Accordingly, the terminal device 100 can check the values of the finally calculated C (the number of cumulative rotation angles) and the sign, and calculate only the sign having a large number of the same sign as an average value. For example, c1 and c2 are positive numbers, and when c3 is negative (-), the average value may be (c1 + c2) / 2. Since the values output as positive (+) out of the three values are two more than those output as negative (-), the denominator is calculated as c1 and c2, Share it. When the values having the same sign are present in a plurality of the same number (for example, two negative numbers and two positive numbers), the terminal apparatus 100 selects one of the weights Extract the highest weight. In this case, the maximum weights of the two negative numbers are 0.8 and 0.4, which is the sum of the two weights, and the maximum weights of the two positive numbers are 0.4 and 0.4, which is the sum of the two weights, 0.8. The negative value can be determined as the final value.

A storage module (not shown) is an apparatus for storing data, and includes a main storage device and an auxiliary storage device, and stores an application program necessary for the functional operation of the terminal device 100. [ The storage module 110 may include a program area and a data area. Here, the terminal device 100 may be a program for activating the sensor function, a program for performing angle calculation, a program for checking the angle code, a program for converting the angle code, A program for performing correction, and the like. In addition, the storage module stores information about each sensor. For example, the information on the sensor includes sensor information corresponding to the sensor type, type, model name, manufacturer information, average sensitivity of the sensor, error range, and the like, Includes motion recognition information corresponding to the basic axis of recognition, minimum angle for motion recognition, maximum angle for motion recognition, measurement unit time of each sensor, minimum unit time of rotation axis measurement of sensor, information of application linked with motion recognition do.

On the other hand, the memory mounted on the terminal device 100 stores information in the device. In one implementation, the memory is a computer-readable medium. In one implementation, the memory may be a volatile memory unit, and in other embodiments, the memory may be a non-volatile memory unit. In one implementation, the storage device is a computer-readable medium. In various different implementations, the storage device may include, for example, a hard disk device, an optical disk device, or any other mass storage device.

A processor mounted on the terminal device 100 according to the present invention can process a program command for executing the method according to the present invention. In one implementation, the processor may be a single-threaded processor, and in other embodiments, the processor may be a multi-threaded processor. Further, the processor is capable of processing instructions stored on a memory or storage device.

An input module (not shown) inputs various information such as numeric and character information, sets various functions, and transmits the input signals to other modules in connection with the function control of the terminal device 100. In addition, the input module may include at least one of a keypad and a touchpad that generates an input signal according to a user's touch or operation. At this time, the input module may be configured in the form of one touch panel (or a touch screen) together with the display module to simultaneously perform the input and display functions. Further, the input module may be any input device such as a keyboard, a keypad, a mouse, a joystick, etc., as well as any type of input device that can be developed in the future.

The display module (not shown) displays information on a series of operation states, operation results, and the like that occur during the performance of the function of the terminal device 100. In addition, the display module can display a menu of the terminal device 100 and user data input by the user. Here, the display module may be a liquid crystal display (LCD), a thin film transistor LCD (TFT-LCD), a light emitting diode (LED), an organic light emitting diode (OLED) Active matrix organic light emitting diodes (AMOLEDs), active matrix OLEDs, retina displays, flexible displays, and three-dimensional displays. At this time, when the display module is configured as a touch screen, the display module can perform some or all of the functions of the input module.

A communication module (not shown) communicates with other devices through a communication network (not shown) to perform data transmission and reception. Here, the communication module includes RF transmitting means for up-converting and amplifying the frequency of the transmitted signal, RF receiving means for low-noise amplifying the received signal and down-converting the frequency. Such a communication module may include at least one of a wireless communication module (not shown) and a wired communication module (not shown). The wireless communication module is configured to transmit and receive data according to a wireless communication method. When the terminal device 100 uses wireless communication, the wireless communication module uses any one of a wireless network communication module, a wireless LAN communication module, So that data can be transmitted and received. The wired communication module is for transmitting / receiving data by wire. The wired communication module can connect to the communication network through the wired line and transmit / receive data.

Although the present specification and drawings describe exemplary device configurations, the functional operations and subject matter implementations described herein may be embodied in other types of digital electronic circuitry, or alternatively, of the structures disclosed herein and their structural equivalents May be embodied in computer software, firmware, or hardware, including, or in combination with, one or more of the foregoing. Implementations of the subject matter described herein may be embodied in one or more computer program products, i. E. One for computer program instructions encoded on a program storage medium of the type for < RTI ID = 0.0 & And can be implemented as a module as described above. The computer-readable medium can be a machine-readable storage device, a machine-readable storage substrate, a memory device, a composition of matter that affects the machine readable propagation type signal, or a combination of one or more of the foregoing.

In the present invention, not only the rotational angle obtained through the geomagnetism sensor and the acceleration sensor, but also the calculated value using the rotational angular velocity of the gyro sensor, It can be determined that the terminal device is moving. In addition, by applying the method of confirming the rotation angle and sign of the current terminal device more accurately through the mutual correction process, it is possible to overcome the mathematical limit caused by the range of the angular expression and to improve the reliability of the motion based service using the sensor .

FIG. 3 is a flowchart for explaining a plurality of sensor value mutual correction methods according to an embodiment of the present invention. FIGS. 4A to 5B are diagrams for explaining a plurality of sensor value mutual correction methods according to an embodiment of the present invention. to be.

In particular, a plurality of sensor value mutual correction methods are described by assuming that the first sensor among the sensors of the terminal device 100 according to the embodiment of the present invention is a geomagnetism sensor and an acceleration sensor, and that the second sensor is a gyro sensor The first sensor and the second sensor are not limited to the hypothesized sensor, and various sensors of various kinds can be applied. All of the n sensors (Three or more sensors).

Referring to FIG. 3, a plurality of sensor value mutual correction methods according to an exemplary embodiment of the present invention, when the terminal device 100 detects movement of the terminal device 100 in step S10, Lt; / RTI > For example, the sensor value (a) and the sensor value (b) are collected through a first sensor (a geomagnetic sensor and an acceleration sensor) and a second sensor (a gyro sensor).

The terminal device 100 calculates the angles for the X, Y, and Z axes by performing computations on the sensor values collected in step S20. At this time, the terminal device 100 performs a rotation vector and a matrix operation on the sensor value (a) and the sensor value (b) to calculate angles with respect to the X, Y, and Z axes. Here, the terminal device 100 functions to collect the sensor measurement values collected through the sensor module 10. That is, the angle calculation module 20 collects the sensor measurement values in a form capable of calculating a rotation matrix, a direction vector, an absolute angle, a relative angle, and a matrix in order to utilize the sensor measurement value as information for motion recognition. For example, the terminal device 100 calculates an angle with respect to an X axis (rotation angle based on X axis), a Y axis (rotation angle based on Y axis), and a Z axis (azimuth angle). In this case, the pitch is represented by -90 DEG to + 90 DEG according to the shape of the terminal device 100 erected at the horizontal axis rotation angle, and Roll is represented by -180 DEG ˚ to + 180˚, and the azimuth angle is expressed as 0˚ to 360˚ or -180˚ to + 180˚ depending on east, west, south, and north.

In the case of Pitch and Roll, it has positive (+) or negative (-) sign according to arcsin and arctan value range of trigonometric function and utilizes measurement values of geomagnetic sensor and acceleration sensor. To express an absolute angle.

If the screen of the terminal device 100 faces upward, the pitch is changed to a positive (+) or negative (-) code on the basis of 0 °. Roll is a positive value (+ ) Or a negative (-) sign. When the screen of the terminal device 100 faces downward, the pitch is changed to a positive (+) or negative (-) code with a 0 degree reference. Roll is a 180 degree reference, ) Or a negative (-) sign. Further, when the terminal device 100 indicates a position close to the magnetic north, the azimuth angle is changed to 0 degrees or 360 degrees.

The terminal device 100 compares the angular ranges corresponding to the sensor values calculated through the angle calculation module 20 in step S30, and confirms the angle signs for the respective sensor values based on the comparison result. Then, the terminal device 100 confirms whether the angle code is different in step S40.

For example, as shown in FIG. 4A, the sign of two values is first compared to compare the range of angles calculated through the geomagnetism or gyro sensor and the range of angles calculated through the gyro sensor. In this case, when the angle of the Y axis is near 180 degrees, an example of determining the two values is when the gyro sensor Roll value is in the angle range 501 and when the roll value of the geomagnetic sensor and the acceleration sensor is in the angle range 503 It is time.

In addition, the values calculated by the gyro sensor are measured at 180 ° or more and have opposite signs. On the contrary, the values calculated by the geomagnetic sensor and the acceleration sensor are measured at 180 ° or more, The gyro sensor may have the opposite sign to the measured value of the gyro sensor.

As a result of comparison, if the angle code is different, the terminal device 100 adds a constant value to one angle in step S50 and converts the same angle code. That is, the terminal device 100 checks the sensor value (a) and the sensor value (b) to see if there is a sensor value having another sign among the angles corresponding to the sensor value. At this time, when there is a sensor value having a different sign, the terminal device 100 applies the angle code of the sensor to 180 degrees or 360 degrees so as to convert it into a sign having the same angle as another sensor value. This is because the accumulated sum of the first sensor value (a) and the second sensor value (b) is maximum 180 ° in the absolute range of -90 ° to 90 ° with respect to the X-axis, ), The cumulative sum of the first sensor value (a) and the second sensor value (b) is at most 270 degrees in the absolute range of -180 DEG to 180 DEG. The reason why the cumulative sum is 270 degrees at maximum is that when the sign is different from 0 to 180 degrees which is the absolute range of the sensor value b, Accumulating up to the range of 90 degrees may waste resources depending on the calculation process, so that the range of angles is limited to 90 degrees to 180 degrees and the range of 90 degrees is accumulated.

For example, as shown in FIG. 4B, the terminal device 100 applies an angle sign of a sensor having a negative (-) sign value to 180 degrees or 360 degrees, . The reason for converting negative (-) to positive (+) is to limit the range of negative (-) to -90 ° to -180 °, And can be converted into a negative (-) code. That is, the gyro sensor Roll value is converted into a new angle range 505 by adding 360 degrees to the angle range 501.

In step S60, the terminal device 100 performs a mutual correction by assigning predetermined weights to the respective sensors. Here, the terminal device 100 generates the range of the cumulative rotational angle c by adding the sensor value b converted to be the same sign as the sensor value a and the sensor value a, and the cumulative rotational angle c ) Is set to a weight having a constant value. Here, the weights are adjusted according to the sensitivity of a plurality of sensors, the types of sensors, and the types of sensors.

4C, the terminal device 100 confirms the range of the cumulative rotation angle c by adding the geomagnetic sensor and the acceleration sensor measurement angle a and the converted gyro sensor value b, for example. do. If a weight value of the sensor value (a) is larger than a weight value of the sensor value (b), the sensor value (a) is equal to the sensor value (b ), Which means that it is relatively reliable.

The terminal device 100 judges the recognition value of the motion as a negative (-) code when the accumulated rotation angle c is positive (+) and exceeds the positive (+) sign expression range of the Y axis Subtract 360 deg from the rotation angle c, and finally provide an accumulated rotation angle c with a negative sign. In addition, when the cumulative rotation angle c is negative (-) and exceeds the negative (-) sign expression range of the Y axis, the terminal device 100 determines the recognition value of the motion as a positive (+) code (360 °) at the cumulative rotational angle (c), and finally provides an accumulated rotational angle (c) with a positive (+) sign.

For example, as shown in FIG. 5A, when the value of the mutually corrected cumulative rotational angle c, which is a value calculated in the calculation process of FIGS. 4A to 4C, is 180 degrees . At this time, if the value of the electric leakage rotation angle c is a value exceeding 180 degrees (exists in a range of 180 degrees or more and 270 degrees or less), the terminal device 100 has a probability that a value to be actually recognized is a negative So that 360 ° is subtracted from the value of the cumulative rotation angle c, and finally, the rotation angle value having a negative sign is transmitted to the user.

On the other hand, when the cumulative rotation angle c is positive (+) but does not exceed the positive (+) sign expression range of the Y axis, the terminal device 100 sets the recognition value of the motion as a positive And maintains the accumulated rotation angle c to provide the accumulated rotation angle c. In addition, when the cumulative rotation angle c is negative (-) and does not exceed the negative (-) sign expression range of the Y axis, the terminal device 100 sets the recognition value for motion as a negative (-) sign And maintains the cumulative rotational angle c, and provides an accumulated rotational angle c thereof.

For example, as shown in FIG. 5B, when the value of the mutually corrected cumulative rotational angle c, which is a value calculated in the calculation process of FIGS. 4A to 4C, is 180 degrees . At this time, if the value of the cumulative rotation angle c does not exceed 180 degrees (exists in a range of 0 to 180 degrees), the terminal device 100 determines that the value that is actually recognized is a positive (+) code , The value of the cumulative rotational angle c is transmitted to the user as it is.

In addition, when the cumulative rotation angle c is positive (+) and exceeds the positive (+) sign expression range of the X axis, the terminal device 100 judges the recognition value of the motion as a negative (-) code And applies 180 degrees according to the X-axis code representation range to finally provide an accumulated rotation angle (c) with a negative (-) sign. In addition, when the cumulative rotation angle c is negative (-) and exceeds the negative (-) sign expression range of the X axis, the terminal device 100 determines the recognition value of the motion as a positive (+) code And applies 180 degrees according to the X-axis code representation range to finally provide an accumulated rotation angle (c) having a positive (+) sign.

On the other hand, when the cumulative rotation angle c is positive (+) and does not exceed the positive (+) sign expression range of the X axis, the terminal device 100 sets the recognition value of the motion as a positive (+) sign , And provides an accumulated rotation angle (c) according to the X-axis code representation range. In addition, when the cumulative rotation angle c is negative (-) and does not exceed the negative (-) sign expression range of the X axis, the terminal device 100 sets the recognition value of the motion as a negative (-) sign And maintains the cumulative rotational angle c, and provides an accumulated rotational angle c thereof.

In other words, the plurality of sensor value mutual correction methods according to the embodiment of the present invention check the angle of the terminal device 100 using the geomagnetism sensor and the acceleration sensor, grasp the angular velocity of the gyro sensor for a predetermined time, And the angle of the terminal device 100 is checked through matrix and matrix operations. Then, the angular values of the gyro sensor and the acceleration sensor are compared with the gyro sensor, and the case where the measured values are deviated from each other through the sign and the magnitude of the value is found. And determines the angle at which the actual terminal device 100 is positioned through the mutual correction process. In the mutual correction calculation, weights are set for each sensor, and optimization is performed for each terminal in an adjustable form according to the type and type of sensor mounted on the terminal apparatus 100, so that mathematical limitations arising due to the angular expression range are corrected .

In addition, the number of sensors according to another embodiment of the present invention is not limited to the first sensor and the second sensor, but may be any one of n sensors (three or more sensors) . That is, the case where the terminal device 100 performs the sensor value mutual correction using three or more sensors will be described.

The terminal device 100 may include a first sensor and a second sensor, a first sensor and a third sensor, a second sensor and a third sensor for correcting the sensor value correction for the first sensor, the second sensor, And compares the sensor values with each other to calculate respective cumulative rotational angles (c). At this time, since the number of cases in which c can be extracted is calculated by comparing two sensors of n according to Equation (1), it is possible to obtain the cumulative rotation angle of _n C 2 pieces (C is a combination). For example, according to the correction of the sensor value using the first sensor, the second sensor and the third sensor, the total number of cumulative rotational angles is ₃ C ₂ cumulative rotational angles. Further, in the combination method for obtaining the number of cumulative rotation angles, it is possible to eliminate redundant combinations.

Accordingly, the terminal device 100 can check the values of the finally calculated C (the number of cumulative rotation angles) and the sign, and calculate only the sign having a large number of the same sign as an average value. For example, when c1 and c2 are positive (+) and when c3 is negative (-), the average value may be (c1 + c2) / 2. Since the values output as positive (+) out of the three values are two more than those output as negative (-), the denominator is calculated as c1 and c2, Share it.

When the values having the same sign are present in a plurality of the same number (for example, two negative numbers and two positive numbers), the terminal apparatus 100 selects one of the weights Extract the highest weight. In this case, the maximum weights of the two negative numbers are 0.8 and 0.4, which is the sum of the two weights, and the maximum weights of the two positive numbers are 0.4 and 0.4, which is the sum of the two weights, 0.8. The negative value can be determined as the final value.

Implementations of the various techniques described herein may be implemented in digital electronic circuitry, or in computer hardware, firmware, software, or combinations thereof. Implementations may be implemented in a computer program product, such as an information carrier, e.g., a machine readable storage device, such as a computer readable storage medium, for example, for processing by a data processing apparatus, Apparatus (computer readable medium) or as a computer program tangibly embodied in a propagation signal. A computer program, such as the computer program (s) described above, may be written in any form of programming language, including compiled or interpreted languages, and may be stored as a stand-alone program or in a module, component, subroutine, As other suitable units for use in the present invention. A computer program may be deployed to be processed on one computer or multiple computers at one site or distributed across multiple sites and interconnected by a communications network.

The method steps may be performed by one or more programmable processors executing a computer program to perform functions by operating on input data and generating an output. The method steps may also be performed by special purpose logic circuitry, e.g., a field programmable gate array (FPGA) or an application-specific integrated circuit (ASIC), and the devices may be implemented as such.

Processors suitable for processing a computer program include, by way of example, both general purpose and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read-only memory or a random access memory or both. The elements of a computer may include at least one processor for executing instructions and one or more memory devices for storing instructions and data. Generally, a computer may include one or more mass storage devices for storing data, such as magnetic, magneto-optical disks, or optical disks, or may receive data from them, transmit data to them, . ≪ / RTI > Information carriers suitable for embodying computer program instructions and data include, for example, semiconductor memory devices, for example, magnetic media such as hard disks, floppy disks and magnetic tape, compact disk read only memory A magneto-optical medium such as a floppy disk, an optical disk such as a DVD (Digital Video Disk), a ROM (Read Only Memory), a RAM , Random Access Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), and the like. The processor and memory may be supplemented or included by special purpose logic circuitry.

While the specification contains a number of specific implementation details, it should be understood that they are not to be construed as limitations on the scope of any invention or claim, but rather on the description of features that may be specific to a particular embodiment of a particular invention Should be understood. Certain features described herein in the context of separate embodiments may be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented in multiple embodiments, either individually or in any suitable subcombination. Further, although the features may operate in a particular combination and may be initially described as so claimed, one or more features from the claimed combination may in some cases be excluded from the combination, Or a variant of a subcombination.

Likewise, although the operations are depicted in the drawings in a particular order, it should be understood that such operations must be performed in that particular order or sequential order shown to achieve the desired result, or that all illustrated operations should be performed. In certain cases, multitasking and parallel processing may be advantageous. Also, the separation of the various system components of the above-described embodiments should not be understood as requiring such separation in all embodiments, and the described program components and systems will generally be integrated together into a single software product or packaged into multiple software products It should be understood.

It should be noted that the embodiments of the present invention disclosed in the present specification and drawings are only illustrative of specific examples for the purpose of understanding and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

In the present invention, when the measured value of each sensor mounted on the terminal device changes sign due to the limit of the sign expression range, the sensor calculates the rotation angle of each sensor and compares the rotation angle with each other to perform mutual correction. In this way, not only the rotational angle obtained through the geomagnetism sensor and the acceleration sensor but also the calculated value using the rotational angular velocity of the gyro sensor is also detected, and then the value and sign of the highly reliable angle are applied through the code comparison process of the two values, It can be judged by the movement of the apparatus. In addition, by applying the method of confirming the rotation angle and sign of the current terminal device more accurately through the mutual correction process, it is possible to overcome the mathematical limit caused by the range of the angular expression and to improve the reliability of the motion based service using the sensor . This is not only a possibility of commercialization or sales, but also a possibility of being industrially applicable since it is practically possible to carry out clearly.

10: Sensor module 20: Angle calculation module
30: Angle code verification module 40: Angle code conversion module
50: mutual correction module 100: terminal device

Claims (12)

The terminal device collecting sensor values through n sensors;
Calculating the angles with respect to the X, Y, and Z axes by computing the collected sensor values;
Comparing the angular range corresponding to the sensor value by the terminal device and confirming the angle code for each sensor value;
If the angle code is different, converting the terminal code into a same angle code by adding a constant value to one angle; And
Performing the mutual correction by assigning predetermined weights to the angles of the sensor values for the respective sensors;
And a plurality of sensor value mutual correction methods. 2. The method of claim 1,
The terminal device checks the sensor value and confirms whether a sensor value having a different sign among angles corresponding to the sensor value exists; And
If there is a sensor value having the different sign, the terminal applies an operation of adding or subtracting 180 degrees or 360 degrees according to a range of sign expressions of each axis of the sensor, step;
And a plurality of sensor value mutual correction methods. 2. The method of claim 1, wherein performing the mutual correction comprises:
The terminal device generates a range of the cumulative rotation angle c by adding the sensor value b of another sensor which is converted so that the terminal device has the same sensor value a and the sensor value a, Wherein the rotation angle c is set to a weight having a predetermined value and the weight is adjusted according to the sensitivity of the plurality of sensors, the type of the sensor, and the type of the sensor. . 4. The method of claim 3, wherein performing the mutual correction comprises:
If the value of the cumulative rotation angle (c) is not included in the range of angular expression of the Y axis, the terminal device determines that the recognition value for the motion of the terminal device is the opposite sign, , And finally provides a rotation angle with the opposite sign,
If the value of the cumulative rotation angle c is not included in the angle expression range of the X axis, the recognition value for the movement of the terminal device is determined to be the opposite sign, and the cumulative rotation angle c is added or subtracted by 180 degrees , And finally providing a rotation angle with the opposite sign. 4. The method of claim 3, wherein performing the mutual correction comprises:
If the terminal device determines that the value of the cumulative rotation angle c is included in the angle expression range of the Y axis, the terminal device determines the recognition value of the movement of the terminal device to be the same sign, and maintains the cumulative rotation angle c Provides a rotation angle,
(C) according to the X-axis code representation range when the value of the cumulative rotation angle (c) is included in the angle expression range of the X-axis, And a plurality of sensor value mutual correction methods. 2. The method of claim 1, wherein performing the mutual correction comprises:
Wherein when the number of sensors is n, the terminal device compares a plurality of n sensors and obtains an accumulated rotation angle c obtained by applying a combination operation. 7. The method of claim 6, wherein performing the mutual correction comprises:
Wherein the terminal device checks the sign of the values of the obtained cumulative rotation angle (c) and compares the value having the same sign with another code and calculates the mean value of the relatively many codes. Value mutual correction method. 7. The method of claim 6, wherein performing the mutual correction comprises:
When the terminal device has the same number of the same cumulative rotation angle (c) as the obtained cumulative rotation angle (c), the highest weight among the weights of the sensors used for the respective values is extracted, And the weighted sum value is determined as the final value based on the result of the comparison. 2. The method of claim 1, wherein, after performing the mutual correction,
The terminal device performing an operation recognition for a specific application by reflecting a rotation angle by the mutual correction;
Further comprising the steps of: A sensor module for collecting sensor values through n sensors when movement of the terminal device is detected;
An angle calculation module for calculating the angle of the X, Y, and Z axes by calculating the sensor values;
An angle code verification module for comparing angle ranges corresponding to the sensor values and identifying angle codes for the respective sensor values;
An angle code conversion module for adding a constant value to one angle and converting the angle code into the same angle code when the angle code is different; And
A mutual correction performing module for performing mutual correction by assigning predetermined weights to the angles of the sensor values for respective sensors;
And a terminal device. 11. The sensor module according to claim 10, wherein the sensor module
And at least one of a geomagnetic sensor, an acceleration sensor, and a gyro sensor for detecting movement of the terminal device. A computer-readable recording medium recording a program for executing the plurality of sensor value mutual correction methods described in any one of claims 1 to 9.

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