KR102495685B1 - Method for determining magnetic field strength and terminal therefor - Google Patents

Abstract

Disclosed is a method for correcting the y-component of the magnetic field detected by a geomagnetic sensor at a specific point in time. This method comprises: a step of determining the nth pitch section to which the pitch value detected by the direction sensor included in the terminal at the specific point in time among the N pitch sections defined by dividing the section from 0° to 360° into N sections; a step of storing the y component detected at the specific time in the nth Y-array corresponding to the determined nth pitch section among the N predefined Y-arrays, a step of calculating a representative value of the nth Y-array, and a step of determining the difference between the y component and the representative value as a value for the y component. Accordingly, the present invention can provide a method for accurately determining that a user has entered a specific area when entering an artificially provided magnetic field space.

Description

Method for determining magnetic field strength and terminal therefor

The present invention relates to a method for determining a magnetic field strength and a terminal therefor, and particularly relates to a method for correcting a value of a geomagnetic sensor that can be used when an automatic correction value of a geomagnetic sensor is inaccurate.

In a normal environment, a geomagnetic sensor of a smart phone (user terminal) measures the strength of the Earth's magnetism. Positioning using existing geomagnetic sensors requires continuous collection of the strength of the geomagnetic field to analyze and process patterns of change, so real-time processing is important due to the communication load with the server and the large amount of computing power consumed for pattern analysis. It is not easy to introduce in the positioning service.

On the other hand, the geomagnetic sensor of the smart phone cannot always provide data of the same quality due to data distortion due to strong magnetic fields around it or data distortion due to contact with other smart devices. For example, when a smart phone contacts an auxiliary battery or a wireless charger, a value measured by a built-in geomagnetic sensor has a magnetic field value greater than a general geomagnetic field value, and data distortion may occur. When such a problem with the geomagnetic sensor occurs, according to the technology that has been provided by smartphones, the user removes the object that distorts the data of the geomagnetic sensor, and the user performs an additional artificial action (eg, shaking the smartphone). The geomagnetic sensor should be normalized. Requiring these additional actions from users can act as a significant obstacle to providing smooth services. That is, even if the user does not perform a special action, it is possible to provide a convenient service to the user only when location determination is possible using data of the geomagnetic sensor.

Conventional smart phones provide not only the magnetic field values of the X, Y, and Z components as measured by the geomagnetic sensor, but also the corrected magnetic field values of the X, Y, and Z components of the geomagnetic sensor corrected by its own algorithm. . The strength of the magnetic field can be calculated as root(X^2+Y^2+Z^2), which is a value obtained by summing the squares of the corrected X, Y, and Z components and performing a root operation. Here, for example, the X, Y, and Z directions may be a horizontal direction, a vertical direction, and a direction orthogonal to the screen when holding the smartphone in an upright position and looking at the screen, and the X-Y plane may be a plane parallel to the screen . The structure of an algorithm provided by conventional smart phones itself is usually unknown.

The difference is that if you use uncorrected magnetic field values, no correction for Hard Iron is applied to the magnetic field. The steel effect refers to a phenomenon in which the direction or strength of a magnetic field is influenced by a bias error due to the influence of a ferromagnetic material that disturbs the earth's magnetic field. Auxiliary batteries or wireless chargers in contact with or in proximity to a smartphone can cause the steel effect.

Therefore, if the geomagnetic sensor is continuously exposed to an object that creates permanent magnetic field disturbance, the magnetic field strength obtained by the corrected magnetic field values of X, Y, and Z components provided by the smartphone itself cannot have an accurate value. . However, in this case, the smartphone may provide information to the effect that the reliability of the magnetic field values of the corrected X, Y, and Z components is low, but the specific algorithm is usually not disclosed.

In addition, even if the geomagnetic sensor of the smartphone is located at a location with the same earth magnetic field strength, the magnetic field values of the X, Y, and Z components are changed according to the smartphone's posture (direction of the smartphone, ex: the direction the screen is facing). . In this case, the smart phone corrects the intentional influence on the posture of the smart phone by its own unknown algorithm, and provides the corrected magnetic field values of the X, Y, and Z components.

However, in the case of directly processing and using the uncorrected magnetic field values of the X, Y, and Z components, the attitude of the smartphone should be considered. When the posture of the smartphone is not considered at all, even when the strength of the magnetic field does not substantially change, it may be recognized that the strength of the measured magnetic field changes when the posture of the smartphone changes. Therefore, an act of abruptly changing the direction of the smartphone, such as shaking the smartphone, significantly affects the magnetic field values of uncalibrated X, Y, and Z components of the geomagnetic sensor of the smartphone.

Usually, a smartphone includes a direction sensor as well as a geomagnetic sensor. In a smart phone, the direction of the smart phone can be determined through a value output by the direction sensor.

1 is a diagram for explaining a direction sensor included in a smart phone.

The direction sensor 12 provides information about the physical direction of the smart phone 10 in a three-dimensional space. That is, the direction sensor 12 provides information on azimuth, roll, and pitch in the physical direction.

The azimuth is a value indicating which direction of the smart phone 10 is facing east, west, south, or north. Normally, in the smart phone 10, the direction upward is the azimuth.

Pitch informs changes in up and down movement of the smart phone 10 . That is, the pitch refers to a rotational movement around the X axis.

Roll informs the change of left and right movement of the smart phone 10 . That is, the roll refers to a rotational movement around the Y-axis.

Azimuth, pitch, and roll can all have values from 0° to 360°.

As described above, the directions along the X-axis, Y-axis, and Z-axis may be a horizontal direction, a vertical direction, and a direction orthogonal to the screen when holding the smartphone in an upright position and looking at the screen, respectively, and the X-Y plane is the screen may be a plane parallel to

For example, in a smartphone using the Android operating system, azimuth, pitch, and roll values may be obtained through a getOrientation function.

In the present invention, it is intended to provide a method for accurately determining that a user has entered a specific area when entering an artificially provided magnetic field space that provides a magnetic field stronger than the earth's magnetic field.

In addition, the present invention is intended to provide a method for correcting intensity values of a geomagnetic sensor that can be used when an automatic correction value of a geomagnetic sensor is not accurate.

A method for determining the strength of a magnetic field provided according to one aspect of the present invention is a value (Ary [xc](t)), a value for the y component (y(t)) of the magnetic field (Ary[yc](t)), and a value for the z component (z(t)) of the magnetic field (Ary[ determining zc](t)); and the strength of the magnetic field detected by the geomagnetic sensor at the point in time t based on the determined value of the x component, the value of the y component, and the value of the z component (I(t ))). At this time, the process of calculating the value of the y component at the time point (t) is the time point ( Determining an n-th pitch interval (p_n)(t) to which the pitch value detected by the direction sensor included in the terminal belongs in t) (n is any one value from 1 to N); The terminal sets the y component detected at the time point t to the nth Y-array (Ary[ y]_n); calculating, by the terminal, a representative value (Reg[y]_n(t)) of the nth Y-array; and determining, by the terminal, a difference value between the y component and a representative value of the nth Y-array as a value for the y component.

At this time, the process of calculating the value of the y component at the time point t may be repeatedly executed for at least a predetermined time period.

At this time, the process of calculating the value of the z component at the time point (t) is, among the M roll sections defined by dividing the section from 0 ° to 360 ° into M sections, Determining the mth roll section (r_m) (t) to which the roll value detected by the direction sensor included in the terminal at t) belongs (m is any one of 1 to M); The terminal sets the z component detected at the time point t to the m-th Z-array (Ary[ z]_m); calculating, by the terminal, a representative value (Reg[z]_m(t)) of the mth Z-array; and determining, by the terminal, a difference value between the z component and a representative value of the mth Z-array as a value for the z component.

In this case, the process of calculating the value of the z component at the time point t may be repeatedly executed for at least a predetermined time period.

At this time, the terminal is configured to execute another second magnetic field strength determination process for determining the magnetic field strength, wherein the second magnetic field strength determination process determines the magnetic field strength determined by the second magnetic field strength determination process. It can be set to output accuracy. At this time, in the process of calculating the value of the y component at the time point t, the accuracy of the magnetic field strength determined by the second magnetic field strength determination process in the terminal has a low value smaller than a predetermined reference value and is executed only when the second magnetic field strength determination process determines that the determined magnetic field strength is greater than a predetermined value.

In this case, the value of the x component at the time point t may be the same as the x component.

At this time, in the method, when the calculated magnetic field strength is greater than a value obtained by adding a predetermined first value to the past magnetic field strength calculated at a past time point that is past the time point t, the terminal is located in a predefined area. Determining that it has entered; may further include.

At this time, if the calculated magnetic field strength is greater than a value obtained by multiplying a predetermined second value by a past magnetic field strength calculated at a past time point that is past the time point t, it is determined that the terminal has entered a predefined area. It may further include;

A location determination method for determining a location of a terminal provided according to one aspect of the present invention includes: calculating, by a terminal that calculates a magnetic field strength according to a given schedule, the magnetic field strength at a given time point (t); and when the calculated magnetic field strength of the terminal is greater than a value obtained by adding a predetermined first value to a past magnetic field strength calculated at a past time point that is past the time point t, or a predetermined first value is added to the past magnetic field strength. If the value obtained by multiplying by 2 is greater than the value, determining that the terminal has entered a predefined area may be included. In this case, in the step of calculating the magnetic field strength at the time point t, the value of the x component (x(t)) of the magnetic field detected by the terminal at the given time point t by the geomagnetic sensor included in the terminal ( Ary[xc](t)), a value for the y component (y(t)) of the magnetic field (Ary[yc](t)), and a value for the z component (z(t)) of the magnetic field (Ary determining [zc](t)); and the strength of the magnetic field detected by the geomagnetic sensor at the point in time t based on the determined value of the x component, the value of the y component, and the value of the z component (I(t ))). In the step of calculating the value of the y component at the time point (t), among the N pitch intervals defined by dividing the interval from 0 ° to 360 ° into N intervals, the time point (t ), determining an n-th pitch interval (p_n)(t) to which the pitch value detected by the direction sensor included in the terminal belongs (n is any one of 1 to N); The terminal sets the y component detected at the time point t to the nth Y-array (Ary[ y]_n); calculating, by the terminal, a representative value (Reg[y]_n(t)) of the nth Y-array; and determining, by the terminal, a difference value between the y component and a representative value of the nth Y-array as a value for the y component.

At this time, in the location determination method for determining the location of the terminal, after the step of determining that the terminal has entered the predefined area, the terminal communicates with another device associated with the predefined area to perform subsequent processes related to the entry. It may further include the step of executing.

In this case, the subsequent process may be a process of controlling the operation of a gate installed in the predefined area or a payment process of performing payment for passing through the predefined area.

A terminal provided according to one aspect of the present invention includes a device interface unit capable of reading a computer-readable non-volatile recording medium; processing unit; geomagnetic sensor; And a direction sensor; may include. At this time, the non-volatile recording medium may store a program including a first command code and a second command code. The first command code is a value (Ary[xc](t)) related to the x component (x(t)) of the magnetic field detected by the processing unit at a given time point (t) by the geomagnetic sensor, and y of the magnetic field. determining a value (Ary[yc](t)) for the component (y(t)) and a value (Ary[zc](t)) for the z component (z(t)) of the magnetic field; and The processing unit determines the strength of the magnetic field (I(t) detected by the geomagnetic sensor at the point in time t based on the determined value of the x component, the value of the y component, and the value of the z component ). And the second command code is N pitch sections defined by dividing the section from 0 ° to 360 ° into N sections in order to calculate the value of the y component at the point in time t. Among them, determining an n-th pitch section (p_n)(t) to which the pitch value detected by the direction sensor at the time point (t) belongs (n is any one value from 1 to N); The processing unit converts the y component detected at the time point t to an n-th Y-array (Ary[ y]_n); calculating, by the processing unit, a representative value (Reg[y]_n(t)) of the nth Y-array; and determining, by the processing unit, a difference value between the y component and a representative value of the nth Y-array as a value for the y component.

At this time, the non-volatile recording medium further stores a third command code, and the third command code is a past time calculated by the processing unit at a time in the past when the calculated magnetic field strength is past the time point t. If it is greater than the value obtained by adding the first predetermined value to the magnetic field strength, or greater than the value obtained by multiplying the past magnetic field strength by the predetermined second value, execute a step of determining that the terminal has entered a predefined area. It may be a command code that does. The processing unit may be configured to read and execute the first command code, the second command code, and the third command code through the device interface unit.

A method for correcting a value of a geomagnetic sensor provided according to one aspect of the present invention may be a method in which a terminal performs a process of correcting a value of a geomagnetic sensor at predetermined time intervals. At this time, in the process, the terminal, at the current point in time (t), the value (Ary[xc](t)) related to the x component (x(t)) of the magnetic field detected by the geomagnetic sensor, the y component (y (t)) determining a value (Ary[yc](t)) and a value (Ary[zc](t)) for the z component (z(t)); and calculating, by the terminal, the geomagnetic sensor intensity value I(t) at the point in time t based on the value of the x component, the value of the y component, and the value of the z component. steps may be included. In this case, in the step of calculating the value (Ary[yc](t)) for the y component at the time point t, the terminal, among a plurality of predefined pitch intervals, at the time point t determining a k-th pitch section (p_k)(t) to which a pitch value detected by a direction sensor included in the terminal belongs; The terminal selects the y component (y(t)) detected at the time point (t) as the kth corresponding to the determined kth pitch interval (p_k)(t) among a plurality of predefined Y-arrays. storing in Y-array (Ary[y]_k); calculating, by the terminal, a representative value (Reg[y]_k(t)) of the kth Y-array (Ary[y]_k); and determining, by the terminal, a difference value between the y component (y(t)) and the representative value (Reg[y]_k(t)) as a value (Ary[yc](t)) related to the y component. can include

In this case, the Ary[xc](t) at the time point t may be a value of x(t).

At this time, in the step of calculating the Ary[zc](t) at the time point t, the terminal detects the roll value at the point in time t, and the first one corresponding to the roll value among a plurality of roll sections. determining m roll section (r_m)(t); The terminal stores the detected z(t) value in the m-th Z-array (Ary[z]_m) corresponding to the determined m-th roll section (r_m)(t) at the time point (t) step; calculating, by the terminal, a base (Reg[z]_m(t)) that is a representative value of the m-th Z-array (Ary[z]_m); and determining, by the terminal, a value of z(t)-Reg[z]_m(t)) as the Ary[zc](t).

At this time, in the method of correcting the geomagnetic sensor value, the terminal determines that the magnetic field has become stronger than a threshold value when the geomagnetic sensor intensity value I(t) at the time point t rises above a predetermined level from a reference value. Further steps may be included.

At this time, the method of correcting the geomagnetic sensor value further includes, by the terminal, updating the reference value to the geomagnetic sensor intensity value (I(t)) at the time point (t) when the time point (t) is a reference time point. can do.

At this time, prior to the step of determining the kth pitch interval (p_k)(t), the step of generating the plurality of pitch intervals by dividing the pitch value range into N predetermined intervals by the terminal, and the roll value The method may further include generating the plurality of roll sections by dividing the range into predetermined M sections.

At this time, before the step of detecting the x value, y value, and z value of the geomagnetic sensor by the terminal, the step of receiving a Bluetooth signal by the terminal; and when the accuracy of the geomagnetic sensor has a low value and the measured value of the geomagnetic sensor is greater than a predetermined value, the terminal updates the reference value to the current geomagnetic sensor intensity value I(t). Further steps may be included.

In this case, the process may be repeatedly performed from an execution start time of the process to before the reference value reset time.

At this time, when the reference value resetting time elapses from the execution start point of the process, determining, by the terminal, that the accuracy of the geomagnetic sensor has a low value and that the measured value of the geomagnetic sensor is greater than a predetermined value; and if the terminal determines that the measured value of the geomagnetic sensor is greater than the predetermined value, updating the reference value to the geomagnetic sensor intensity value (I(t)) at the current time point. It may be configured to run the process.

A terminal provided according to another aspect of the present invention includes a device interface unit capable of reading a computer-readable non-volatile recording medium; processing unit; geomagnetic sensor; And a direction sensor; may include. At this time, the non-volatile recording medium, at the current point in time (t), the x (t) value of the magnetic field of the geomagnetic sensor, the y (t) value of the y component, and the z (t) value of the z component detecting; At the time point t, Ary[xc](t), which is a value for the x component (x(t)), Ary[yc](t), which is a value for the y component (y(t)), and the z Calculating Ary[zc](t), which is a value for component z(t); and root (Ary[xc](t)^2+Ary[yc](t)^2+Ary[zc](t)^2) as the geomagnetic sensor intensity value (I(t) at the point in time t. ))) may store a program including a first command code for executing the step of determining. At this time, in order to calculate the Ary[yc](t) at the time point t, the program detects a pitch value at the time point t and detects a pitch value corresponding to the pitch value among a plurality of pitch sections. Determining a k-th pitch section (p_k) (t); At the point in time t, storing the detected y(t) value in a kth Y-array Ary[y]_k corresponding to the determined kth pitch section p_k(t); calculating a base (Reg[y]_k(t)), which is a representative value of the kth Y-array (Ary[y]_k); and determining the value of y(t)-Reg[y]_k(t)) as the Ary[yc](t).

In this case, the Ary[xc](t) at the time point t may be a value of x(t).

At this time, in order to calculate the Ary[zc](t) at the time point t, the program detects a roll value at the time point t and m corresponding to the roll value among a plurality of roll sections. determining a roll section (r_m)(t); storing the detected value of z(t) in an m-th Z-array (Ary[z]_m) corresponding to the determined m-th roll section (r_m)(t) at the time point (t); calculating a base (Reg[z]_m(t)) that is a representative value of the m-th Z-array (Ary[z]_m); and determining the value of z(t)-Reg[z]_m(t)) as the Ary[zc](t); third instruction code for executing.

At this time, the program executes a step of determining that the magnetic field has become stronger than a threshold value when the geomagnetic sensor intensity value (I(t)) at the current point in time (t) rises above the reference value by a predetermined degree or more, a fifth command code may further include.

At this time, the program further includes a fourth command code for executing a step of updating the reference value to the geomagnetic sensor intensity value I(t) at the current time point t if the current time point t is a reference time point. can do.

According to the present invention, it is possible to provide a method for accurately determining that a user has entered a specific area when entering an artificially provided magnetic space that provides a magnetic field stronger than the earth's magnetic field.

In addition, according to the present invention, it is possible to provide a method for correcting the intensity value of the geomagnetic sensor that can be used when the automatic correction value of the geomagnetic sensor is not accurate.

1 is a diagram for explaining a direction sensor included in a user terminal.
2 shows the configuration of a user terminal according to an embodiment of the present invention.
3 illustrates a plurality of pitch sections for pitch values and a plurality of roll sections for roll values according to an embodiment of the present invention.
4 illustrates arrays and registers prepared in a user terminal according to an embodiment of the present invention.
5 is a flowchart illustrating a method for correcting intensity values of a geomagnetic sensor according to an embodiment of the present invention.
6A is a flowchart of a step of calculating Ary[yc](t), which is a value related to the y component, according to an embodiment of the present invention.
6B is a flowchart of a step of calculating Ary[zc](t), which is a value related to the z component, according to an embodiment of the present invention.
7 is a diagram for explaining steps S10, steps S21 to S22, and steps S121 to S122 according to an embodiment of the present invention.
8A is a diagram for explaining a process of calculating Ary[yc](t), which is a value related to a y component, according to an embodiment of the present invention.
8B is a diagram for explaining a process of calculating Ary[zc](t), which is a value related to the z component, according to an embodiment of the present invention.
8c shows an X-correction array Ary[xc] according to an embodiment of the present invention.
8D is a diagram showing a current intensity array according to an embodiment of the present invention.
9 is a diagram for explaining the relationship between a user terminal and a stationary Bluetooth transceiver according to an embodiment of the present invention.
10 is a flow chart for determining whether a user carrying a user terminal has entered a specific area according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be implemented in various other forms. Terms used in this specification are intended to aid understanding of the embodiments, and are not intended to limit the scope of the present invention. Also, the singular forms used herein include the plural forms unless the phrases clearly dictate the contrary.

2 shows the configuration of a user terminal according to an embodiment of the present invention.

The user terminal 10 may include a geomagnetic sensor 11, a direction sensor 12, a processing unit 14, a communication unit 15, and a device interface 16 capable of reading a non-volatile recording medium 14. . In addition, the user terminal 10 may further include a non-volatile recording medium 14 readable by the computer.

The geomagnetic sensor 11 may measure x(t) values, y(t) values, and z(t) values of the magnetic field at time point t for calculating the strength of the magnetic field. Generally, apps installed on user terminals, and apps using geomagnetic sensors installed on user terminals, use corrected magnetic field values of X, Y, and Z components obtained from the geomagnetic sensor.

In contrast, in the method provided according to an embodiment of the present invention described below, the magnetic field values of the X, Y, and Z components before correction that can be obtained from the geomagnetic sensor 11, that is, the measured value x(t) value, A y(t) value and a z(t) value can be used.

The direction sensor 12 may measure a pitch value and a roll value.

The nonvolatile recording medium 13 includes a first command code for executing steps S10 to S30, a second command code for executing steps S21 to S25, and a step S121 for performing steps S10 to S30 below. ) to step S125, the following steps S200 to S260, and the sixth command code to execute steps S310 to S330 (fourth command code and 5 command code included) may be stored. At this time, the non-volatile recording medium 13 may store information measured, generated, and received by the geomagnetic sensor 11, the direction sensor 12, the processing unit 14, and the communication unit 15.

The processing unit 14 may be adapted to obtain a geomagnetic sensor strength value by reading and executing the first command code to the sixth command code through the device interface unit 16 .

The communication unit 15 may include a Bluetooth communication device. The communication unit 15 may receive a Bluetooth signal from a Bluetooth transceiver external to the user terminal 10 . The external Bluetooth transceiver is, for example, installed in a station, and the Bluetooth signal may include history information. Here, the history information may include, for example, identification information of a station built in a certain area, identification information of means of transportation operated in the station, and information about fares related to the station.

3 illustrates a plurality of pitch sections for pitch values and a plurality of roll sections for roll values according to an embodiment of the present invention.

In one embodiment of the present invention, the pitch and roll values output by the direction sensor 12 are simplified into several sections and managed. In addition, the geomagnetic sensor value before correction may be corrected using the information about the section.

Figure 3 (a) shows an example of dividing the pitch value range into four sections, Figure 3 (b) shows an example of dividing the pitch value range into six sections, in Figure 3 ( c) shows an example of dividing the roll value range into 4 sections, and FIG. 3(d) shows an example of dividing the roll value range into 6 sections. The circles shown in (a) and (b) of FIG. 3 represent 0° to 360°, which is a value that the pitch can have. The circles shown in (c) and (d) of FIG. 3 represent values that the roll can have, from 0° to 360°. Values that the pitch or roll may have may be numbers excluding the symbol °.

For example, in (a) of FIG. 3, a pitch having a value of 0 ° to 90 ° is regarded as belonging to the first pitch section p_1, and a pitch having a value of 90 ° to 180 ° is considered to belong to the second pitch section 2 ( p_2), pitches with a value of 180 ° to 270 ° are considered to belong to the third pitch section (p_3), and pitches with a value of 270 ° to 360 ° are considered to belong to the fourth pitch section (p_4) can be considered as belonging to As shown in (b) of FIG. 3, an embodiment in which the entire section of 360 ° is divided into a total of six pitch sections is also possible. In addition, although not shown, an embodiment in which the entire section of 360° is divided into a total of N pitch sections is also possible. That is, in one embodiment of the present invention, all measured pitches are considered to have any one of four values corresponding to the first pitch section, the second pitch section, the third pitch section, and the fourth pitch section. and can be stored. In this case, the measured and stored pitch value may have a large quantization error compared to the actual measured value, but the gain obtained by simplifying and storing the pitch value as described below is greater than the disadvantage caused by this error. consider

Similarly, in (c) of FIG. 3, rolls having a value of 0 ° to 90 ° are regarded as belonging to the first roll section (r_1), and rolls having a value of 90 ° to 180 ° are considered to belong to the second roll section 2 ( r_2), rolls with a value of 180 ° to 270 ° are considered to belong to the third roll section (r_3), and rolls with a value of 270 ° to 360 ° are considered to belong to the fourth roll section (r_4) can be considered as belonging to As shown in (d) of FIG. 3, an embodiment in which the entire section of 360° is divided into a total of six roll sections is also possible. In addition, although not shown, an embodiment in which the entire section of 360° is divided into a total of M roll sections is also possible. That is, in one embodiment of the present invention, all measured rolls are considered to have any one of four values corresponding to the first roll section, the second roll section, the third roll section, and the fourth roll section. and can be stored. In this case, the measured and stored roll value may have a large quantization error compared to the actual measured value, but the benefit obtained by simplifying and storing the roll value as described below is greater than the disadvantage caused by this error. consider

That is, the processing unit 14 may generate a plurality of pitch sections by dividing the pitch value range (0 degree to 360 degrees) into predetermined N sections. For example, when N = 4, it may be the same as in (a) of FIG. 3, and when N = 6, it may be the same as (b) in FIG. For example, if N = 4, if the pitch value is a value of 0 to 89 degrees, it corresponds to the first pitch section (p_1), if the pitch value is a value of 90 to 179 degrees, it corresponds to the second pitch section (p_2), and the pitch value If the value is 180 to 269 degrees, it corresponds to the third pitch section (p_3), and if the pitch value is a value of 270 to 359 degrees, it can be determined that it corresponds to the fourth pitch section (p_4).

The processing unit 14 may create a plurality of roll sections by dividing the roll value range (0 degree to 360 degrees) into predetermined M sections. For example, when M = 4, it may be the same as in (c) of FIG. 3, and when M = 6, it may be the same as (d) in FIG. For example, in the case of M = 4, if the roll value is 0 to 89 degrees, it corresponds to the first roll section (p_1), if the roll value is 90 to 179 degrees, it corresponds to the second roll section (p_2), and if the roll value is 180 to 179 degrees, it corresponds to the second roll section (p_2). If the value is 269 degrees, it corresponds to the third roll section (p_3), and if the roll value is a value of 270 to 359 degrees, it can be determined that it corresponds to the fourth roll section (p_4).

In this case, N and M may have the same value or different values.

At this time, in this embodiment, the case of N = 4 or 6 and the case of M = 4 or 6 have been described, but the values of N and M may be natural numbers greater than or equal to 2.

4 illustrates arrays and registers prepared in a user terminal according to an embodiment of the present invention.

The inventor of the present invention, the magnetic field value of the Y component measured from the geomagnetic sensor is closely related to the pitch among the azimuth, roll, and pitch measured from the direction sensor, and the measured magnetic field value of the Z component is the measured azimuth, roll, and pitch. It was found that it was closely related to the middle roll.

In connection with this discovery, in an embodiment of the present invention, X-array (Ary[xc]), Y-arrays (Ary[y]), and Y-registers (Reg[y]) are included in the user terminal. , Y-correction array (Ary[yc]), Z-arrays (Ary[z]), Z-registers (Reg[z]), Z-correction array (Ary[zc]), and current intensity array ( Ary[c]) may be prepared.

At this time, a random Y-array (Ary[y]_k) among the Y-arrays (Ary[y]) is the magnetic field of the Y component before correction measured at points in time when the measured pitch belongs to the kth pitch section (p_k). It is an array for storing values, and the number of Y-arrays is N in total (k=1, 2, ..., N).

A random Z-array (Ary[z]_m) among the Z-arrays (Ary[z]) is the magnetic field values of the Z component before correction measured at the times when the measured roll belongs to the m-th roll section (r_m). It is an array for storage, and the number of Z-arrays is M in total (m = 1, 2, ..., M). Here, N=M may be the case.

In FIG. 4 (and in FIGS. 8A and 8B below), an example where N=M=4 is described.

Hereinafter, four Y-arrays (Ary[y]) and four Z-arrays (Ary[z]), that is, a representative value of values belonging to each array among a total of 8 arrays is referred to as a 'base'. . Since there are a total of 8 arrays, a total of 8 representative values, that is, a total of 8 'bases' can be defined.

The representative values can be recalculated every time the magnetic field and pitch/roll are measured. That is, the representative values may change every moment. The calculated representative values may be sequentially stored from past values to present values.

In an example in which a total of 8 representative values exist, 8 registers may be prepared in the user terminal to store the 8 representative values determined at every moment of measuring the magnetic field.

That is, the first Y-array (Ary[y]_1), the second Y-array (Ary[y]_2), the third Y-array (Ary[y]_3), and the fourth Y-array (Ary[y] ]_4), the first Y-register (Reg[y]_1), the second Y-register (Reg[y]_2), and the third Y-register (Reg[y]_3) for storing representative values of values belonging to ), and a fourth Y-register (Reg[y]_4) may be prepared.

Similarly, the first Z-array (Ary[z]_1), the second Z-array (Ary[z]_2), the third Z-array (Ary[z]_3), and the fourth Z-array (Ary[z]_3) The first Z-register (Reg[z]_1), the second Z-register (Reg[z]_2), and the third Z-register (Reg[z]_3) for storing representative values of the values belonging to ]_4), respectively. ), and a fourth Z-register (Reg[z]_4) may be prepared.

That is, in the present invention, the register storing the representative values of the values belonging to the kth Y-array (Ary[y]_k) is referred to as the kth Y-register (Reg[y]_k), and the mth Z-array (Ary[y]_k) A register storing representative values of values belonging to [z]_m) may be referred to as an m-th Z-register Reg[z]_m.

In addition, a Y-correction array (Ary[yc]) is prepared in the user terminal to store a representative value of the Y value before correction of the magnetic field at each measurement point, and a representative value of the Z value before correction of the magnetic field is stored at each measurement point. A Z-correction array (Ary[zc]) may be prepared in the user terminal for storage.

Like the Y-correction array Ary[yc] and the Z-correction array Ary[zc], an X-correction array Ary[xc] may be prepared in the user terminal. In the X-correction array Ary[xc], a representative value of the X value before correction of the magnetic field may be stored at each measurement point. The representative value of the X value before correction of the magnetic field may be the X value itself before correction at an arbitrary measurement time point, or may be a representative value corrected by a predetermined algorithm.

Finally, a current intensity array (Ary[c]) for storing the corrected geomagnetic sensor intensity value at every measurement point may be prepared in the user terminal. At this time, the geomagnetic sensor intensity value stored in the current intensity array at time point t may be referred to as I(t).

5 is a flowchart illustrating a method for correcting intensity values of a geomagnetic sensor according to an embodiment of the present invention.

In step S10, at the current point in time t, the x(t) value of the magnetic field of the geomagnetic sensor, the y(t) value of the y component, and the z(t) value of the z component can be detected. there is.

In step S20, at the point in time t, Ary[xc](t), which is a value for the x component (x(t)), and Ary[yc](t), which is a value for the y component (y(t)) t), and Ary[zc](t), which is a value for the z component (z(t)), can be calculated.

In step S30, the root (Ary[xc](t)^2+Ary[yc](t)^2+Ary[zc](t)^2) is the intensity of the geomagnetic sensor at the time point t. It can be determined by the value I(t).

In this case, a process including the above-described steps S10 to S30 may be referred to as a first process.

Step S20 may include the following steps S21 to S25 and steps S121 to S125. Hereinafter, a process including steps S21 to S25 may be referred to as a second process, and a process including steps S121 to S125 may be referred to as a third process.

6A is a flowchart of a step of calculating Ary[yc](t), which is a value related to the y component, according to an embodiment of the present invention.

6B is a flowchart of a step of calculating Ary[zc](t), which is a value related to the z component, according to an embodiment of the present invention.

7 is a diagram for explaining steps S10, steps S21 to S22, and steps S121 to S122 according to an embodiment of the present invention.

8A is a diagram for explaining a process of calculating Ary[yc](t), which is a value related to a y component, according to an embodiment of the present invention.

8B is a diagram for explaining a process of calculating Ary[zc](t), which is a value related to the z component, according to an embodiment of the present invention.

8c shows an X-correction array Ary[xc] according to an embodiment of the present invention.

8D is a diagram showing a current intensity array according to an embodiment of the present invention.

Hereinafter, it will be described with reference to FIGS. 2 to 8D together.

In step S10, the processing unit 14 of the user terminal 10 determines the x(t) value, which is the magnetic field value of the X, Y, and Z components before correction of the geomagnetic sensor 11 at the current time point t, y( t) value and z(t) value may be received from the geomagnetic sensor 11 .

Referring to FIG. 7 , for example, if the current time point t is time t1, the geomagnetic sensor values at time t1 are x(t1), y(t1), and z(t1), and if the current time point t2 is time t2, The geomagnetic sensor values are x(t2), y(t2), z(t2), and in the case of time t3, the geomagnetic sensor values at time t3 may be x(t3), y(t3), z(t3) .

In steps S21 and S121, the processing unit 14 may receive the pitch value and the roll value at the current time point t from the direction sensor 12.

Referring to FIG. 7 , for example, the pitch value at the time t1 may be the pitch t1 (eg, 0 degree), and the roll value may be the roll t1. The pitch value at the time point t2 may be the pitch t2 (eg, 180 degrees), and the roll value may be the roll t2. Also, the pitch value at the time t3 may be the pitch t3 (eg, 180 degrees), and the roll value may be the roll t3.

In step S22, the processing unit 14 may determine the kth pitch interval p_k(t) corresponding to the received pitch value at the current point in time t among the plurality of pitch intervals (k = 1, 2, 3, or 4).

And in step S122, the processing unit 14 may determine the mth roll section (r_m) (t) corresponding to the received roll value at the current time point (t) among the plurality of roll sections (m = 1, 2, 3, or 4).

For example, the plurality of pitch sections may be four sections as shown in FIG. 3 (a). Also, the plurality of pitch sections may be four sections as shown in (c) of FIG. 3 . To this end, prior to step S30, the processing unit 14 divides the range of pitch values into predetermined N sections (eg, N = 4) to define the plurality of pitch sections, and the roll value The step of defining the plurality of roll sections by dividing the range into predetermined M sections (eg, M=4) may be further executed.

Referring to FIG. 7, for example, the k th pitch section (p_k) (t1) corresponding to the pitch (t1) is the first pitch section (p_1) (t1) and the m th roll section (r_m) corresponding to the roll (t1) ) (t1) may be the second roll section (r_2) (t1). For example, the k th pitch section (p_k) (t2) corresponding to the pitch (t2) is the third pitch section (p_3) (t2) and the m th roll section (r_m) (t2) corresponding to the roll (t2) is the third pitch section (p_3) (t2). It may be a 2-roll section (r_2) (t2). For example, the k-th pitch section (p_k) (t3) corresponding to the pitch (t3) is the third pitch section (p_3) (t3), and the m-th roll section (r_m) (t3) corresponding to the roll (t3) is the third pitch section (p_3) (t3). It may be a 2-roll section (r_2) (t3).

In this specification, the Y-array corresponding to the kth pitch section (p_k) can be denoted as the kth Y-array (Ary[y]_k), and the Z-array corresponding to the mth roll section (r_m) is It can be expressed as m Z-array (Ary[z]_m).

In step S23, the processing unit 14, at the time point t, displays the detected information in the kth Y-array Ary[y]_k corresponding to the determined kth pitch interval p_k(t). You can store the y(t) value. To this end, the processing unit 14 may select the kth Y-array Ary[y]_k corresponding to the determined kth pitch section p_k(t) at time point t. Further, the processing unit 14 may store the y(t) value, which is the magnetic field value of the Y component before correction, in the kth Y-array Ary[y]_k selected at the point in time t.

And in step S123, the processing unit 14 detects the detection on the m-th Z-array (Ary[z]_m) corresponding to the determined m-th roll section (r_m) (t) at the time point (t). The value of z(t) can be stored. To this end, the processing unit 14 may select the k th Z-array Ary[z]_k corresponding to the determined k th roll section r_k(t) at time point t. Further, the processing unit 14 may store the value of z(t), which is the magnetic field value of the Z component before correction, in the m-th Z-array Ary[z]_m selected at the time point t.

At this time, it is assumed that the pitch measured at the time point t belongs to the kth pitch section p_k, and the roll measured at the time point t belongs to the mth roll section r_m do.

8A shows a storage space in which the y(t) value, which is the magnetic field value of the Y component before correction measured at time point t, is stored. The storage may be performed at every measurement moment. This storage space includes the first Y-array (Ary[y]_1), the second Y-array (Ary[y]_2), the third Y-array (Ary[y]_3), and the fourth Y-array ( Ary[y]_4). A value of y(t) measured at a specific point in time t is stored in only one of the four Y-arrays Ary[y]. The array to be stored is determined according to the value of the pitch measured at the time point t.

8B shows a storage space in which z(t) values, which are magnetic field values of the Z component before correction measured at time point t, are stored. The storage may be performed at every measurement moment. This storage space includes a first Z-array (Ary[z]_1), a second Z-array (Ary[z]_2), a third Z-array (Ary[z]_3), and a fourth Z-array ( Ary[z]_4). A z(t) value measured at a specific time point t is stored in only one of the four Z-arrays Ary[z]. The array to be stored is determined according to the value of the roll measured at the time point t.

Referring to FIGS. 7 and 8A together, for example, when the current time point t is the time point t=t3, the measured patch belongs to the third pitch section p_3. Accordingly, y(t3) measured at the time point t3 may be stored in the last column C10 of the Y-array Ary[y]_3 corresponding to the third pitch section p_3. In this embodiment, each array is exemplified as being composed of 10 columns (C1 to C10), but is not limited thereto. Each array is initially an empty column, and each time the viewpoint changes, the corresponding value can be filled in turn.

In one implementation, one pointer can be created for each array to populate each array with values. If you need to store the value (x(t), y(t), z(t), etc.) in each array, store it in the space pointed to by the pointer of the array, and increase (decrement) the value of the pointer after saving. ) can be made. Then, when storing in the same array as the previously stored array, it can be stored at the location indicated by the increased pointer. At this time, the value of the pointer may increase (decrease) in a cyclic manner. In this case, the average of each array may be the average of all values stored in the corresponding array. If there is no stored value, the average value may be a pre-specified value.

For example, referring to FIG. 8B , when the current time point is t=t1, the pointer of Ary[z]_2 may point to column C8. Therefore, at time t1, the value of z(t1) is stored in column C8, and the value of the pointer can point to column C9, which is increased by 1. Also, at the current point in time t=t2, the pointer of Ary[z]_2 points to column C9, so the z(t2) value is stored in column C9, and the pointer value can point to column C10, which is increased by 1.

In another embodiment, with the values filled up to the 10th column (C10), the 11th value is entered in the 10th column (C10), and the existing value of the 10th column (C10) is entered in the 9th column (C9). The value of each column can be updated in such a way that the value is pushed as it is entered. That is, the value of the array may be updated in a first in first out (FIFO) manner.

For example, referring to FIG. 8A , looking at the first Y-array Ary[y]_1, after the y(t1) value is filled in the first Y-array Ary[y]_1 at the time point t1 It can be seen that the first Y-array Ary[y]_1 is not updated any more. Looking at the Y-array (Ary[y]_3), the value y(t2) is stored in column C10 at time point t2, but when the time point changes and becomes time point t3, the third Y-array (Ary[y] Since the value of y(t3) should be stored in _3), the value of y(t2) is moved to column C9 and updated and stored, and it can be seen that the value of y(t3) is stored in column C10.

In addition, updating of values of each array may be performed by various methods.

In step S24, the processing unit 14 determines, at the time point t, the base Reg[y]_k(t), which is the representative value of the kth Y-array Ary[y]_k selected at the time point t. ) can be calculated. Referring to FIG. 8A, for example, 'Av[y]_3(t3)' (= base (Reg[y]_k(t), k = 3), which is a representative value of the third Y-array (Ary[y]_3) , t=t3) may be stored in the third Y-register (Reg[y]_3) At this time, for example, the arrow shown in FIG. 8A indicates that the third Y-array (Ary[y]_3 ) indicates that the representative value Av[y]_3(t3) of the values belonging to is stored in the third Y-register (Reg[y]_3).

In step S124, the processor 14 may calculate the base Reg[z]_m(t), which is a representative value of the m-th Z-array Ary[z]_m selected at the time point t. . Referring to FIG. 8B, for example, 'Av[z]_2(t3)' (= Reg[z]_m(t), which is a representative value of the second Z-array (Ary[z]_2), at this time, m=2, t = t3) may be stored in the second Z-register (Reg[z]_2). At this time, for example, the arrow shown in FIG. 8B indicates the representative value Av[z]_2(t3) of the values belonging to the second Z-array (Ary[z]_2) at the time point t3 in the second Z-register (Reg [z]_2).

According to the above-described embodiment of the present invention, at every measurement point, representative values of pre-correction Y values of the already measured and stored magnetic fields are calculated. At this time, instead of calculating representative values of all measured and stored Y values before correction, representative values are calculated targeting only Y values before correction belonging to the Y-array corresponding to the pitch section measured at the measurement time.

Similarly, according to the above-described embodiment of the present invention, at every measurement point, a representative value of pre-correction Z values of a magnetic field that has already been measured and stored is calculated. At this time, instead of calculating representative values of all measured and stored pre-correction Z values, representative values are calculated for only pre-correction Z values belonging to the Z-array corresponding to the pitch section measured at the measurement time.

In this way, at each measurement point, a representative value of the Y value before correction of the magnetic field and a representative value of the Z value before correction of the magnetic field are stored.

In step S25, the processing unit 14 may determine the value of y(t)-Reg[y]_k(t)) as the Ary[yc](t). That is, the processing unit 14, in the storage space corresponding to the time point t of the Y-correction array Ary[yc], from y(t), which is the Y value before correction of the magnetic field measured at time point t, A value obtained by subtracting the base Reg[y]_k(t) calculated at time point t may be stored.

In step S125, the processing unit 14 may determine the value of z(t)-Reg[z]_m(t)) as the Ary[zc](t). That is, the processing unit 14, in the storage space corresponding to the time point t of the Z-correction array Ary[zc], calculates the value of the magnetic field before correction z(t) measured at the time point t. A value obtained by subtracting the base Reg[z]_k(t) calculated at time point t may be stored.

At this time, it can be assumed that the Y-correction array Ary[yc] consists of 10 columns.

In this case, the value at the point of time t=t3 (Ary[yc](t3)) may be stored in column C10 of the Y-correction array (Ary[yc]). In this case, the value Ary[yc](t3) may be a value obtained by subtracting the base Reg[y]_k(t3) calculated at time point t3 from y(t3) measured at time point t3. there is. At this time, the y(t3) value at time point t3 is stored in column C10 of the third Y-array (Ary[y]_3), and the past average value is stored in the third Y-array (Ary[y]_3) at time point t3. ]_3).

In column C9 of the Y-correction array Ary[yc], a value (Ary[yc](t2)) at a point in time t=t2, which is a point immediately before t=t3, may be stored. In this case, the value Ary[yc](t2) may be a value obtained by subtracting the base Reg[y]_k(t2) calculated at time point t2 from y(t2) measured at time point t2. there is. At this time, the y(t2) value at time point t2 is stored in column C9 of the third Y-array (Ary[y]_3), and the past average value is stored in the third Y-array (Ary[y]_3) at time point t2. ]_3).

In column C8 of the Y-correction array (Ary[yc]), a value (Ary[yc](t1)) at a point in time t=t1, immediately before t=t2, may be stored. In this case, the value Ary[yc](t1) may be a value obtained by subtracting the base Reg[y]_k(t1) calculated at time point t1 from y(t1) measured at time point t1. there is. At this time, the y(t1) value at time point t1 is stored in column C10 of the first Y-array (Ary[y]_1), and the past average value is the first Y-array (Ary[y]_1) at time point t1. ]_1).

Similarly, it can be assumed that the Z-correction array Ary[zc] consists of 10 columns.

At this time, the value at t=t3 (Ary[zc](t3)) may be stored in column C10 of the Z-correction array (Ary[zc]). In this case, the value Ary[zc](t3) may be a value obtained by subtracting the base Reg[z]_m(t3) calculated at time point t3 from z(t3) measured at time point t3. there is. At this time, the z(t3) value at time point t3 is stored in C10 of the second Z-array (Ary[z]_2), and the past average value is the second Z-array (Ary[z]_2) at time point t2. ]_2).

In column C9 of the Z-correction array (Ary[zc]), a value (Ary[zc](t2)) at a point in time t=t2, immediately before t=t3, may be stored. In this case, the value Ary[zc](t2) may be a value obtained by subtracting the base Reg[z]_m(t2) calculated at time point t2 from z(t2) measured at time point t2. there is. At this time, the z(t2) value at time point t2 is stored in C9 of the second Z-array (Ary[z]_2), and the past average value is the second Z-array (Ary[z]_2) at time point t2. ]_2).

In column C8 of the Z-correction array (Ary[zc]), a value (Ary[zc](t1)) at a point in time t=t1, which is a point immediately before t=t2, may be stored. In this case, the value Ary[zc](t1) may be a value obtained by subtracting the base Reg[z]_m(t1) calculated at time point t1 from z(t1) measured at time point t1. there is. At this time, the z(t1) value at time point t1 is stored in column C8 of the second Z-array (Ary[z]_2), and the past average value is stored in the second Z-array (Ary[z]_2) at time point t1. ]_2).

Referring to FIG. 8C, column C10 of the X-correction array (Ary[xc]) stores x(t3) measured at time t=t3, and column C9 stores x(t2) measured at time t=t2. stored, and x(t1) measured at the point of time t=t1 may be stored in column C8. As described above, in another embodiment, values corrected according to a predetermined algorithm may be stored in each column of the X-correction array Ary[xc].

5 and 8d together, in step S30, the processing unit 14, root(Ary[xc](t)^2+Ary[yc](t)^2+Ary[zc](t )^2) may be determined as the geomagnetic sensor intensity value I(t) at the time point t. Further, the processing unit 14 may store the geomagnetic sensor intensity value I(t) at the time point t in the current intensity array Ary[c]. For example, the current intensity array Ary[c] may have 10 columns. Assuming that the current point in time (t) is the point in time t3, I(t3)=root(Ary[xc](t3)^2+Ary[yc](t3)^2+Ary[zc](t3)^2) value This current geomagnetic sensor intensity value (ie, magnetic field intensity value) may be.

9 is a diagram for explaining the relationship between a user terminal and a stationary Bluetooth transceiver according to an embodiment of the present invention.

Before executing the above-described steps S10 to S30, the user terminal 10 may receive a Bluetooth signal from the stationary Bluetooth transceiver 20.

When the user terminal 10 receives the Bluetooth signal, it can determine whether the user (specifically, the user terminal) has entered a specific area (eg, a station or a highway toll gate).

At this time, the user terminal 10 determines whether to calculate the geomagnetic sensor intensity value using the self-calibrated geomagnetic sensor value (hereinafter, the calibrated value of the geomagnetic sensor), or the method of the above-described steps S10 to S30. It is possible to determine whether to calculate the geomagnetic sensor intensity value.

10 is a flow chart for determining whether a user carrying a user terminal has entered a specific area according to an embodiment of the present invention.

In step S200, the communication unit 15 of the user terminal 10 may receive a Bluetooth signal.

In step S210, the processing unit 14 may determine whether the accuracy of the geomagnetic sensor 11 has a high value (HIGH) or a low value (LOW). At this time, when the accuracy has a high value, step S310 may be executed, and when the accuracy has a low value, step S220 may be executed.

In step S220, if the processing unit 14 determines that the accuracy of the geomagnetic sensor 11 has a low value, whether the measured value of the geomagnetic sensor 11 is greater than a predetermined value (eg, uT unit) is determined. can judge At this time, when the measured value is smaller than the predetermined value, step (S310) may be executed, and when the measured value is greater than the predetermined value, step (S230) may be executed.

In step S230, the processing unit 14 may update the reference value to the geomagnetic sensor intensity value I(t), eg I(t3) at the current point in time t (eg, t3). To this end, a first process (and a second process and a third process) for calculating the geomagnetic sensor intensity value (I(t), eg, I(t3)) at the current point in time t (eg, t3) may be executed. there is. At this time, the command code for executing step S230 may be referred to as a fourth command code.

Thereafter, the processing unit 14 may execute the first process (and the second process and the third process) at the time point t4 again.

In step S240, the processing unit 14 may determine whether the change rate of the geomagnetic sensor intensity value at the current point in time t (eg, t4) with respect to the reference value is equal to or greater than the reference value.

In step S250, when the processing unit 14 determines that the change rate of the geomagnetic sensor intensity value at the current point in time (t, for example, t4) compared to the reference value is equal to or greater than the reference value, the user terminal 10 determines that the specific area can be judged to have entered. That is, in step S250, if the geomagnetic sensor intensity value (I(t4)) at the current time point (t4) rises by more than a predetermined level than the reference value (I(t3)), it is determined that the magnetic field has become stronger than the threshold value, It may be determined that the user terminal 10 has entered a specific area. At this time, the command code for executing step S250 may be referred to as a fifth command code.

If the rate of change is smaller than the reference value, step S260 may be executed.

In step S260, the processing unit 14 may determine whether the time elapsed from the start of the first process equals or exceeds a predetermined reference value setting time (eg, 2 seconds). At this time, when the processing unit 14 determines that the time elapsed from the start of the first process is equal to or exceeds a predetermined reference value setting time (eg, 2 seconds), step S210 is executed, and when it is determined that it is smaller than the A first process and step S240 may be executed. That is, the first process may be repeatedly performed from the execution start time of the first process (t3) to before the reference value resetting time (eg, 2 seconds from the time t3).

When going from step S210 or step S220 to step S310, the reference value may be updated to a calibrated value of the geomagnetic sensor. The calibrated value of the geomagnetic sensor may be a value obtained by a basic program provided by the user terminal 10 (corrected x, y, z values) rather than a value obtained by executing the first process.

Thereafter, steps S320 and S250, or steps S320 and S330 may be executed.

Steps S320 and S330 are the same as steps S240 and S260, respectively, but there is a difference only in the reference value and the corrected value.

Command codes for executing the above-described steps S200 to S260 and steps S310 to S330 may be referred to as a sixth command code.

Using the above-described embodiments of the present invention, those belonging to the technical field of the present invention will be able to easily implement various changes and modifications without departing from the essential characteristics of the present invention. The content of each claim of the claims may be combined with other claims without reference relationship within the scope understandable through this specification.

Claims (13)

A value (Ary[xc](t)) corrected based on the x component (x(t)) of the magnetic field detected by the geomagnetic sensor included in the terminal at a given time point (t), and the y component of the magnetic field A value (Ary[yc](t)) corrected based on (y(t)) and a value (Ary[zc](t)) corrected based on the z component (z(t)) of the magnetic field deciding; and
The terminal detects the geomagnetic sensor at the point in time t based on a corrected value based on the determined x component, a corrected value based on the y component, and a corrected value based on the z component calculating the strength of one magnetic field (I(t));
Including,
The process of calculating the corrected value based on the y component at the time point t,
Among the N pitch intervals defined by dividing the range from 0° to 360° into N intervals by the terminal, the nth pitch interval to which the pitch value detected by the direction sensor included in the terminal at the time point t belongs. Determining (p_n)(t) (n is any one of 1 to N);
The terminal sets the y component detected at the time point t to the nth Y-array (Ary[ y]_n);
calculating, by the terminal, a representative value (Reg[y]_n(t)) of the nth Y-array; and
determining, by the terminal, a difference value between the y component and a representative value of the nth Y-array as a corrected value based on the y component;
including,
Method for determination of magnetic field strength. According to claim 1,
The process of calculating the corrected value based on the z component at the time point t,
Among the M roll sections defined by dividing the 0 ° to 360 ° section into M sections, the m-th roll section to which the roll value detected by the direction sensor included in the terminal at the time point t belongs ( determining r_m)(t) (m is any one value from 1 to M);
The terminal sets the z component detected at the time point t to the m-th Z-array (Ary[ z]_m);
calculating, by the terminal, a representative value (Reg[z]_m(t)) of the mth Z-array; and
determining, by the terminal, a difference value between the z component and a representative value of the m-th Z-array as a corrected value based on the z component;
including,
Method for determination of magnetic field strength. According to claim 1,
the terminal is adapted to execute another second magnetic field strength determination process for determining the magnetic field strength;
the second magnetic field strength determination process is adapted to output an accuracy of the magnetic field strength determined by the second magnetic field strength determination process;
The process of calculating the corrected value based on the y component at the time point t,
The terminal determines that the accuracy of the magnetic field strength determined by the second magnetic field strength determination process has a low value smaller than a predetermined reference value, and the magnetic field strength determined by the second magnetic field strength determination process is greater than a predetermined value. Characterized in that it is executed only when it is determined to be large,
Method for determination of magnetic field strength. The method of determining the magnetic field strength according to claim 1, characterized in that the process of calculating the corrected value based on the y component at the time point (t) is repeatedly executed for at least a predetermined period of time. 3. The method according to claim 2, characterized in that the process of calculating a corrected value based on the z component at the time point (t) is repeatedly executed for at least a predetermined period of time. The method of claim 1, wherein a value corrected based on the x component at the time point (t) is the same as the x component. The method of claim 1, wherein the calculated magnetic field strength is greater than a value obtained by adding a predetermined first value to a past magnetic field strength calculated at a past time point that is past the time point t, in which the terminal is located in a predefined area. Determining that it has entered; further comprising a method for determining the magnetic field strength. The method of claim 1, wherein the terminal is located in a predefined area when the calculated magnetic field strength is greater than a value obtained by multiplying a past magnetic field strength calculated at a past time point that is past the time point t by a predetermined second value. Determining that it has entered; further comprising a method for determining the magnetic field strength. calculating, by a terminal that calculates the magnetic field strength according to a given schedule, the magnetic field strength at a given point in time (t); and
In the terminal, the calculated magnetic field strength is greater than a value obtained by adding a first predetermined value to a past magnetic field strength calculated at a past time point that is past the time point t, or a value obtained by adding a predetermined first value to the past magnetic field strength. determining that the terminal has entered a predefined area if the multiplied value is greater than the multiplied value;
Including,
Calculating the magnetic field strength at the time point t,
The value (Ary[xc](t)) of the x component (x(t)) of the magnetic field detected by the geomagnetic sensor included in the terminal at a given point in time (t), the y component of the magnetic field (y( determining a value (Ary[yc](t)) for t) and a value (Ary[zc](t)) for the z component (z(t)) of the magnetic field; and
The terminal determines the intensity of the magnetic field (I(t) detected by the geomagnetic sensor at the point in time t based on the determined value of the x component, the value of the y component, and the value of the z component ) Calculating;
Including,
Calculating the value of the y component at the time point t,
Among the N pitch intervals defined by dividing the range from 0° to 360° into N intervals by the terminal, the nth pitch interval to which the pitch value detected by the direction sensor included in the terminal at the time point t belongs. Determining (p_n)(t) (n is any one of 1 to N);
The terminal sets the y component detected at the time point t to the nth Y-array (Ary[ y]_n);
calculating, by the terminal, a representative value (Reg[y]_n(t)) of the nth Y-array; and
determining, by the terminal, a difference value between the y component and a representative value of the nth Y-array as a value for the y component;
including,
The process of calculating the value for the z component at the time point t,
Among the M roll sections defined by dividing the 0° to 360° section into M sections by the terminal, the m-th roll section to which the roll value detected by the direction sensor included in the terminal at the time point t belongs ( determining r_m)(t) (m is any one value from 1 to M);
The terminal sets the z component detected at the time point t to the m-th Z-array (Ary[ z]_m);
calculating, by the terminal, a representative value (Reg[z]_m(t)) of the mth Z-array; and
determining, by the terminal, a difference value between the z component and a representative value of the mth Z-array as a value for the z component;
Including,
The value of the x component at the time point (t) is the same as the x component,
A location determination method for determining the location of a terminal. 10. The method of claim 9, further comprising, after determining that the terminal has entered the predefined area, executing a subsequent process related to the entry by communicating with another device associated with the predefined area. A location determination method for determining the location of a terminal. 11. The method of claim 10, wherein the subsequent process is a process of controlling an operation of a gate installed in the predefined area or a payment process of performing a payment for passing through the predefined area. judging method. a device interface unit capable of reading a computer-readable non-volatile recording medium; processing unit; geomagnetic sensor; And a direction sensor; includes,
The non-volatile recording medium stores a program including a first command code and a second command code,
The first command code is
A value (Ary[xc](t)) related to the x component (x(t)) of the magnetic field detected by the geomagnetic sensor at a given time point (t), and the y component (y(t)) of the magnetic field Determining a value (Ary[yc](t)) for and a value (Ary[zc](t)) for the z component (z(t)) of the magnetic field, and
The processing unit determines the strength of the magnetic field (I(t) detected by the geomagnetic sensor at the point in time t based on the determined value of the x component, the value of the y component, and the value of the z component ),
is the command code to execute,
The second command code, in order to calculate the value of the y component at the time point t,
Among the N pitch intervals defined by the processing unit by dividing the interval from 0 ° to 360 ° into N intervals, the nth pitch interval (p_n) to which the pitch value detected by the direction sensor at the time point (t) belongs ( Determining t) (n is any one value from 1 to N);
The processing unit converts the y component detected at the time point t to an n-th Y-array (Ary[ y]_n);
calculating, by the processing unit, a representative value (Reg[y]_n(t)) of the nth Y-array; and
determining, by the processing unit, a difference value between the y component and a representative value of the nth Y-array as a value for the y component;
to run, and
To calculate the value for the z component at the time point t,
Among the M roll sections defined by dividing the 0° to 360° section into M sections by the processing unit, the m th roll section (r_m) to which the roll value detected by the direction sensor at the time point (t) belongs (t) ) Determining (m is a value of any one of 1 to M);
The processing unit sets the z component detected at the time point t to the m-th Z-array (Ary[ z]_m);
calculating, by the processing unit, a representative value (Reg[z]_m(t)) of the m-th Z-array; and
determining, by the processing unit, a difference between the z component and a representative value of the mth Z-array as a value for the z component;
It is the command code to execute,
The value of the x component at the time point (t) is the same as the x component,
terminal. According to claim 12,
The non-volatile recording medium further stores a third command code,
The third command code is
The processing unit determines that the calculated magnetic field strength is greater than a value obtained by adding a predetermined first value to a past magnetic field strength calculated at a past time point that is past the time point t, or a predetermined second value to the past magnetic field strength. determining that the terminal has entered a predefined area when the multiplied value is greater than the multiplied value;
It is the command code to execute,
The processing unit is configured to read and execute the first command code, the second command code, and the third command code through the device interface unit.
terminal.

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