KR20130053882A - Terminal device for correcting gyro-sensor sensing value and accelation sensor sensing value and method for controlling thereof - Google Patents

Abstract

PURPOSE: A terminal for correcting measurement values of a gyro sensor and an acceleration sensor, and a control method thereof are provided to correct the measurement values of the gyro sensor and the acceleration sensor without an additional error correcting module. CONSTITUTION: A terminal for correcting measurement values of a gyro sensor and an acceleration sensor comprises a sensor unit(110) and a control unit(120). The sensor unit measures the measurement values of the gyro sensor and the acceleration sensor. The control unit measures a sequential change of the measurement value of the gyro sensor and determines whether the terminal is in a static state or not based on the sequential change of the measurement value. If the terminal is in the static state, the control unit corrects the measurement value of the acceleration sensor and outputs. The control unit determines which the terminal is in the static state when the sequential change of the measurement value is less than a preset critical value. [Reference numerals] (110) Sensor unit; (120) Control unit

Description

Terminal to calibrate gyro sensor measurement and acceleration sensor measurement and control method {TERMINAL DEVICE FOR CORRECTING GYRO-SENSOR SENSING VALUE AND ACCELATION SENSOR SENSING VALUE AND METHOD FOR CONTROLLING THEREOF}

The present invention relates to a terminal for calibrating a gyro sensor measurement value and an acceleration sensor measurement value and a control method thereof.

In recent years, various technologies related to the control of the smart phone have been developed as the spread of the smart phone in which the function of the portable communication terminal and the function of the small computer is accelerated. Smartphones generally adopt a configuration for receiving a user's operation by a touch screen, and additionally, the user grips the smartphone to perform a predetermined operation, for example, panning, tilting, or twisting. Detects an operation such as

The smartphone recognizes an operation degree of a predetermined motion, for example, a panning distance, a tilting angle, and a twisting angle as a predetermined input, so that the user can pan the smartphone by a predetermined distance, or tilt the smartphone at a predetermined angle. By twisting, you can enter a motivating command.

Accordingly, the smartphone may be provided with various sensors for detecting the input by the operation. The smartphone may include a gyro sensor for detecting a rotational motion. The smartphone may also include an acceleration sensor for detecting the translational movement. The smartphone may detect an input value from a gyro sensor or an acceleration sensor and analyze the input operation command.

However, the gyro sensor or the acceleration sensor included in the smartphone may include a mechanical configuration for detecting a rotational motion or a translational movement motion, and thus an error generated from the mechanical configuration is inevitable.

In addition, if an error resulting from the mechanical configuration occurs early in the detection, the error in the time series measurement may adversely affect the overall detection result. For example, when the smartphone measures an incorrect measurement value for the initial acceleration or rotation information, it may be determined that the smartphone is performing a predetermined operation even when the smartphone is stopped. It may adversely affect.

However, in order to solve the above problem, there is no disclosure about a method or configuration for correcting an error of a measurement value of acceleration or rotation information in the smartphone itself.

The present invention has been made to solve the above-described problems, the present invention provides a terminal for correcting the error of each measured value based on the time series changes of the measured value of the acceleration sensor and the gyro sensor and its control method Can provide.

In order to achieve the above, the terminal for measuring the gyro sensor measurement value and the acceleration sensor measurement value according to the present invention, the sensor unit for measuring the gyro sensor measurement value and the acceleration sensor measurement value and the time series of the gyro sensor measurement value And a controller for measuring a change amount, determining whether the terminal is in a static state based on the time series change amount, and if the terminal is in a static state, correcting and outputting the acceleration sensor measurement value.

On the other hand, the control method of the terminal for measuring the gyro sensor measured value and the acceleration sensor measured value according to another aspect of the present invention comprises the steps of measuring the gyro sensor measured value and the acceleration sensor measured value, time series of the gyro sensor measured value Measuring a change amount, determining whether the terminal is in a static state based on the time series change amount, and correcting and outputting the acceleration sensor measurement value when the terminal is in a static state.

In addition, the terminal for measuring the gyro sensor measurement value and the acceleration sensor measurement value according to another embodiment of the present invention is a sensor unit for measuring the gyro sensor measurement value and the acceleration sensor measurement value and the time series change amount of the acceleration sensor measurement value And a control unit for determining whether the terminal is in a static state based on the time series change amount, and correcting and outputting the gyro sensor measurement value when the terminal is in the static state.

In addition, the control method of the terminal for measuring the gyro sensor measurement value and the acceleration sensor measurement value according to another aspect of the present invention, measuring the gyro sensor measurement value and the acceleration sensor measurement value, time series of the acceleration sensor measurement value Measuring a change amount, determining whether the terminal is in a static state based on the time series change amount, and correcting and outputting the gyro sensor measurement value when the terminal is in a static state.

On the other hand, the measurement value correction method of the terminal for measuring the first measurement value and the second measurement value according to another embodiment of the present invention, calculating the amount of change of the first measurement value, the amount of change of the first measurement value Determining whether the terminal is in a static state when the amount of change of the first measured value is less than or equal to the preset threshold, and when the terminal is in the static state, determining whether the terminal is in a static state. And correcting the output.

According to various embodiments of the present disclosure, a terminal and a control method thereof for correcting an error of each measured value based on a time series change of the measured value of the acceleration sensor and the measured value of the gyro sensor may be provided. The measurement information of the acceleration sensor and the gyro sensor may be corrected without requiring a correction module, thereby analyzing the operation information of the terminal more accurately.

1 is a block diagram of a terminal according to an embodiment of the present invention.
2 is a detailed block diagram of a terminal according to an exemplary embodiment of the present invention.
3A is a graph illustrating a change amount measurement configuration of a change amount detection unit according to an exemplary embodiment of the present invention.
3B to 3D are conceptual views illustrating error correction of an error correction unit according to an exemplary embodiment of the present invention.
4 is a flowchart illustrating a control method of a terminal according to an exemplary embodiment of the present invention.
5 is a flowchart illustrating a terminal control method according to another embodiment of the present invention.
6 is a flowchart illustrating a control method of a terminal according to an exemplary embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. It is to be noted that the same components in the drawings are denoted by the same reference numerals whenever possible. In the following description and the annexed drawings, detailed descriptions of well-known functions and configurations that may unnecessarily obscure the subject matter of the present invention will be omitted.

1 is a block diagram of a terminal according to an embodiment of the present invention. As shown in FIG. 1, the terminal may include a sensor unit 110 and a control unit 120.

The sensor unit 110 may measure angular velocity information and acceleration information of the terminal, and may convert each detected information into a specific measured value and output the measured value. The sensor unit 110 may include a gyro sensor, an acceleration sensor, and the like, and each sensor may be independently included in the sensor unit 110.

The sensor unit 110 may convert the measured gyro sensor measurement value and the acceleration sensor measurement value into time series data and output them to the control unit 120. However, the above-described configuration is just one example, and the sensor unit 110 continuously outputs the gyro sensor measurement value and the acceleration sensor measurement value to the control unit 120, and the control unit 120 performs time series on the buffer 120 and the like. Those skilled in the art will readily appreciate that configurations for storing gyro sensor measurements and time series acceleration sensor measurements to generate respective time series data are also possible.

The controller 120 receives time series data of the gyro sensor measurement value and the acceleration sensor measurement value from the sensor unit 110.

The controller 120 may calculate the time series variation of the gyro sensor measurement value from the time series data of the gyro sensor measurement value. For example, the controller 120 may calculate an absolute value of the magnitude difference of the gyro sensor measurement value, and determine the absolute value of the magnitude difference of the gyro sensor measurement value calculated as a result of the time series variation. Table 1 is a chart for calculating the time series variation according to an embodiment of the present invention.

time One 2 3 4 5 6 7 8 9 10 Gyro Sensor Measurements 0.3 0.3 0.2 0.2 0.3 0.4 0.3 0.1 0.4 0.8 Time series 0 0.1 0 0.1 0.1 0.1 0.2 0.3 0.4

As shown in Table 1, the control unit 120 may receive the time-series gyro sensor measurement values (0.3, 0.3, 0.2, 0.2, 0.3, 0.4, 0.3, 0.1, 0.4, 0.8) from the sensor unit 110 The corresponding time series change amount (0, 0.1, 0, 0.1, 0.1, 0.1, 0.2, 0.3, 0.4) can be calculated.

The controller 120 may determine whether the terminal is in a static state based on the time series change amount (0, 0.1, 0, 0.1, 0.1, 0.1, 0.2, 0.3, 0.4). For example, the controller 120 may determine that the terminal is in a static state when the magnitude of the time series change amount (0, 0.1, 0, 0.1, 0.1, 0.1, 0.2, 0.3, 0.4) is less than or equal to a preset threshold. have. For example, when the preset threshold value is 0.2, the controller 120 may determine that the terminal is in the static state in the time intervals 1 to 8. On the other hand, the controller 120 may determine that the terminal is in the dynamic state in the period 8 to 10. The determination that the terminal is in a static state when the time-series change is less than or equal to the threshold value is caused by the fact that the terminal cannot rotate while maintaining a constant angular velocity by natural operation.

The controller 120 may determine whether the terminal is in a dynamic state / static state based on the gyro sensor measurement value, and may correct the acceleration value based on the dynamic state / static state of the terminal.

The acceleration value corresponding to the specific time input from the sensor unit 110 may include, for example, six components, that is, (+ x, -x, + y, -y, + z, -z). Table 2 is an example of the measured value of the time-series acceleration sensor according to an embodiment of the present invention.

time One 2 3 4 5 6 7 8 9 10 Acceleration sensor measurement (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,10,0) (3,0,4,0,15,0)

As described above, the controller 110 determines that the terminal is in the static state in the time intervals 1 to 8 and the dynamic state in the time intervals 8 to 10. On the other hand, when the terminal is in a static state, the acceleration applied to the terminal is only a gravity acceleration, for example, 9.8m / s2, and thus the magnitude of the acceleration sensor measurement value should be a gravity acceleration value which is a stored acceleration value. Accordingly, the controller 110 may correct the acceleration sensor measurement value of the time interval 1 to 8 intervals to the gravity acceleration value. Equation 1 is an equation representing a process in which the controller 110 corrects an acceleration sensor measurement value.

In this case, g may be a gravity acceleration, for example, 9.8, and x, y, and z may be magnitudes in the x-axis direction, width in the y-axis direction, and magnitudes in the z-axis direction, respectively. A _correction is the correction factor.

The controller 120 may correct the acceleration sensor measured value by dividing the correction factor determined by applying Equation 1 to each component. For example, in time interval 1, the acceleration sensor measurement value is (3,0,4,0,8,0), and accordingly, the correction factor may be determined as 0.96. Accordingly, the controller 120 may determine A calibrated acceleration sensor reading can be output.

time One 2 3 4 5 6 7 8 9 10 Calibrated Accelerometer Measurements (3.125,0,4.17,0,8.33,0) (3.125,0,4.17,0,8.33,0) (3.125,0,4.17,0,8.33,0) (3.125,0,4.17,0,8.33,0) (3.125,0,4.17,0,8.33,0) (3.125,0,4.17,0,8.33,0) (3.125,0,4.17,0,8.33,0) (3.125,0,4.17,0,8.33,0) (3.125,0,4.17,0,10.42,0) (3.125,0,4.17,0,15.63,0)

As shown in Table 3, the control unit 120 applies the correction factor determined in the static state (time intervals 1 to 8 intervals) to the dynamic state (time intervals 8 to 10 intervals), and accordingly an error that may occur later. It can also be corrected.

Up to now, the configuration in which the control unit 120 corrects the acceleration sensor measurement value based on the gyro sensor measurement value has been described. Hereinafter, a configuration of correcting the gyro sensor measurement value based on the acceleration sensor measurement value will be described.

The controller 120 may receive the acceleration sensor measurement values as shown in Table 4 from the sensor unit 110.

time One 2 3 4 5 6 7 8 9 10 Acceleration sensor measurement (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,8,0) (3,0,4,0,10,0) (3,0,4,0,15,0)

The controller 120 may determine that the terminal is in a static state when the difference of the absolute value is less than or equal to a preset threshold based on the difference of the absolute value of the acceleration sensor measurement value. In addition, the controller 120 may determine that the terminal is in a dynamic state when the difference between the absolute values exceeds a preset threshold. For example, when the preset threshold is 1, the controller 120 may determine the time intervals 1 to 8 intervals as the static state. In addition, the controller 120 may determine the time interval 8 to 10 intervals as the dynamic state.

Meanwhile, the controller 120 may receive a gyro sensor measurement value as shown in Table 5 and determine a correction factor.

time One 2 3 4 5 6 7 8 9 10 Gyro Sensor Measurements 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.3 0.4 0.8 Gyro sensor
Correction factor -0.3 -0.3 -0.3 -0.3 -0.3 -0.3 -0.3 -0.3 -0.3 -0.3

The controller 120 may determine the gyro sensor correction factor such that the gyro sensor measurement value becomes 0 in the time intervals 1 to 8 in the static state, and thus determine -0.3 as the correction factor.

The controller 120 may calculate a calibrated gyro sensor measurement value as shown in Table 6 by adding the correction factor to each gyro sensor measurement value.

time One 2 3 4 5 6 7 8 9 10 Calibrated Gyro Sensor Measurements 0 0 0 0 0 0 0 0 0.1 0.5

As described above, the controller 120 may correct the acceleration sensor measurement value based on the gyro sensor measurement value, and may correct the gyro sensor measurement value based on the acceleration sensor measurement value. Accordingly, the controller 120 can create an effect that can perform a more accurate measurement without requiring an additional correction module.

2 is a detailed block diagram of a terminal according to an exemplary embodiment of the present invention. As shown in FIG. 2, the terminal may include a sensor unit 210, a controller 220, a storage unit 230, a display unit 240, and an input unit 250.

The sensor unit 210 may include a gyro sensor unit 211, an acceleration sensor unit 213, and a physical quantity converter 212 connected to each other.

The gyro sensor unit 211 may measure the angular velocity or the angular acceleration of the terminal, and measure the rotational angular velocity or the angular acceleration of the object or antibody. The gyro sensor unit 211 may output the gyro sensor measured value to the physical quantity converting unit 212, and the physical quantity converting unit 212 may digitize an analog value based on the gyro sensor measured value and output the digitized value to the change amount detecting unit 221. Can be.

The acceleration sensor unit 213 may measure the acceleration of the terminal, and for example, may be implemented as a 3-axis linear accelerometer. The acceleration sensor unit 213 may measure the three-axis acceleration of the terminal, and may output the acceleration sensor measurement value to the physical quantity converter 214. The physical quantity converting unit 214 may digitize an analog value based on the acceleration sensor measured value and output the digital value to the variation detecting unit 221.

The controller 220 may include a change amount detector 221, an error corrector 222, and an output unit 223. The change amount detector 221 may detect a change amount of the measured value based on the time series measured value input from the sensor unit 210. The change amount detector 221 may detect the change amount by calculating a difference between each measured value according to the flow of time series.

3A is a graph for describing a change amount measurement configuration of the change amount detection unit 221 according to an embodiment of the present invention. As shown in FIG. 3A, the change amount detector 221 may measure the difference 300 of the input measured value and output the measured difference 300 to the error corrector 222.

The error corrector 222 may correct other measured values based on a time series change amount for each measured value input from the change amount detector 221. In more detail, the error correction unit 222 may determine that the terminal static state when the difference 300 of the measured value in FIG. 3A is equal to or less than a preset threshold. The error correction unit 222 may correct the acceleration sensor measurement value based on the input gyro sensor measurement value, and conversely, may correct the gyro sensor measurement value based on the acceleration sensor measurement value.

3B to 3D are conceptual views illustrating error correction of the error correction unit 222 according to an embodiment of the present invention. 3B is an example of an acceleration sensor measurement value input to the error corrector 222. As shown in FIG. 3B, the acceleration sensor measurement may include an x-axis component 301, a y-axis component 302, and a z-axis component 303, and may have an absolute value 304 therefor. .

When the terminal is in a static state, the error correction unit 222 may determine the correction factor according to Equation 1, and calculate the corrected measurement value by dividing the correction factor by the input measurement value.

3C is an illustration of a calibrated acceleration sensor measurement that corresponds to a case where the correction factor is greater than one. FIG. 3C shows that the components of each axis are reduced in a constant ratio compared to FIG. 3B. 3D is an illustration of a calibrated acceleration sensor measurement that corresponds to a case where the correction factor is less than one. FIG. 3D shows that the components of each axis are increased in a constant ratio compared to FIG. 3B.

The output unit 223 may output the gyro sensor measurement value and the corrected acceleration sensor measurement value corrected by the error correction unit 222.

The controller 220 may control the overall operation of the terminal and may be implemented in the form of a microprocessor, an IC capable of performing an operation, or a mini computer.

The storage unit 230 may store an algorithm, a program, or an application for controlling the overall operation of the terminal used by the controller 220. In addition, the storage unit 230 may store a predetermined gravity acceleration value, and provide it to be used to calculate a correction factor in the error correction unit 222. The storage unit 230 may include a non-volatile memory (NVM), a random access memory (RAM), and the like, such as a solid state disk (SSD), a flash memory card, a ROM [Read Only Memory], and the like. Volatile memory and the like.

The display unit 240 may display a message on the state of the terminal, and may be implemented as an LCD module. The input unit 250 has a key matrix structure (not shown) and includes a character key, a numeric key, various function keys, and an external volume key to output a key input signal corresponding to a key input by a user to the controller 220. The input unit 250 may be implemented in the form of a touch screen, and in this case, the input unit 250 may be manufactured in a single hardware with the display unit 240.

4 is a flowchart illustrating a control method of a terminal according to an exemplary embodiment of the present invention.

The terminal may receive the first measurement value and the second measurement value (S410). Here, the first measurement may be, for example, a gyro sensor measurement, and the second measurement may be, for example, an acceleration sensor measurement.

The terminal may detect a change amount of the first measured value and determine whether the change amount of the first measured value is equal to or less than a preset threshold (S420). The terminal may determine that the terminal is in a static state when the amount of change of the first measured value is equal to or less than the preset threshold (S420-Y) (S430).

If it is determined that the terminal is in the static state, the terminal may correct and output the second measured value (S440).

Meanwhile, contrary to the foregoing, the first measurement value may be an acceleration sensor measurement value, and the second measurement value may be a gyro sensor measurement value.

The terminal determines the static state of the terminal based on the change amount of the acceleration sensor measurement value, the configuration to correct the gyro sensor measurement value and the static state of the terminal based on the change amount of the gyro sensor measurement value and correct the acceleration sensor measurement value Since the configuration is described above, further description thereof will be omitted.

5 is a flowchart illustrating a terminal control method according to another embodiment of the present invention.

The terminal may receive an arbitrary measurement value (S501), and may determine whether the measurement value is an acceleration sensor measurement value (S502). When the measurement result is the gyro sensor measurement value (S502-N), it may be determined whether the amount of change in the gyro sensor measurement value is less than or equal to a predetermined threshold value (S503).

When the amount of change in the gyro sensor measured value is less than or equal to the preset threshold (S503-Y), the terminal may determine that the terminal is in a static state (S505). In addition, when the amount of change in the gyro sensor measured value exceeds a preset threshold (S503-N), the terminal may determine that the terminal is in a dynamic state, that is, in a rotation state.

 The terminal may determine whether the absolute value of the acceleration sensor measurement value is the same as the previously stored gravity acceleration (S506). When the absolute value of the acceleration sensor measurement value is not the same as the previously stored gravity acceleration, the terminal may correct each component so that the absolute acceleration value is the same as the previously stored gravity acceleration value (S507).

In addition, the terminal may also correct the absolute acceleration value when it is determined as the dynamic state based on the correction information.

6 is a flowchart illustrating a control method of a terminal according to an exemplary embodiment of the present invention.

When the terminal receives the measured value (S601), and the measured value is the acceleration sensor measured amount (S602-Y), the terminal may determine whether the amount of change in the acceleration sensor measured amount is equal to or less than a preset threshold (S603).

The terminal may determine that the terminal is in a static state when the amount of change in the acceleration sensor measurement amount is less than the preset threshold (S603-Y), and when the amount of change in the acceleration sensor measurement amount is above the preset threshold (S603-N), The terminal may determine the dynamic state, that is, the mobile state.

When the terminal is determined to be in a static state (S605), the terminal may determine whether the gyro sensor measurement value is 0 (S606), and if the gyro sensor measurement value is not 0 (S606-N), it may be corrected to 0. (S607).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of illustration, It goes without saying that the example can be variously changed. Accordingly, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. * * * * * Recently Added Patents

110: sensor unit 120: control unit
210: sensor unit 211: gyro sensor unit
212: physical quantity conversion unit 213: acceleration sensor unit
214: physical quantity conversion unit 220: control unit
221: variation detection unit 222: error correction unit
223 output unit 230 storage unit
240: display unit 250: input unit

Claims (21)

In the terminal for measuring the gyro sensor measured value and the acceleration sensor measured value,
A sensor unit measuring the gyro sensor measurement value and the acceleration sensor measurement value; And
Measuring the time series variation of the gyro sensor measurement value, and determining whether the terminal is in a static state based on the time series variation amount, and if the terminal is in the static state, correcting and outputting the acceleration sensor measurement value The control unit; comprising a. The method of claim 1,
And the controller determines that the terminal is in a static state when the amount of time series change is less than or equal to a preset threshold. The method of claim 1,
The controller is characterized in that for correcting the absolute value of the acceleration sensor measurement value corresponding to the static state in the same way as the previously stored gravity acceleration. The method of claim 3, wherein
The controller determines a correction factor by dividing an absolute value of the acceleration sensor measurement value corresponding to the static state by the previously stored gravity acceleration, and dividing each component of the acceleration sensor measurement value corresponding to the static state by the correction factor. The terminal characterized in that for correcting the acceleration sensor measurement value. The method of claim 4, wherein
And the controller is configured to correct each acceleration sensor measurement value by dividing each component of the acceleration sensor measurement value corresponding to the dynamic state by the correction factor. In the control method of the terminal for measuring the gyro sensor measured value and the acceleration sensor measured value,
Measuring the gyro sensor measurement and the acceleration sensor measurement;
Measuring a time series variation of the gyro sensor measurement value;
Determining whether the terminal is in a static state based on the time series change amount; And
If the terminal is in a static state as a result of the determination, correcting and outputting the accelerometer sensor measurement value. The method according to claim 6,
Determining whether the terminal is in a static state,
And determining that the terminal is in a static state when the time-series change amount is less than or equal to a preset threshold. The method according to claim 6,
Correcting and outputting the acceleration sensor measurement value,
The control method of the terminal, characterized in that for correcting the absolute value of the acceleration sensor measurement value corresponding to the static state equal to the previously stored gravity acceleration. The method of claim 8,
Correcting and outputting the acceleration sensor measurement value,
Determining a correction factor by dividing an absolute value of an acceleration sensor measurement value corresponding to the static state by the previously stored gravity acceleration; And
And dividing each component of the acceleration sensor measurement value corresponding to the static state by the correction factor to correct the acceleration sensor measurement value. The method of claim 9,
And dividing each component of the acceleration sensor measurement value corresponding to the dynamic state by the correction factor to correct the entire acceleration sensor measurement value. In the terminal for measuring the gyro sensor measured value and the acceleration sensor measured value,
A sensor unit measuring the gyro sensor measurement value and the acceleration sensor measurement value; And
Measuring the time-series variation of the acceleration sensor measurement value, and determining whether the terminal is in a static state based on the time-series variation, and if the terminal is in the static state, correcting and outputting the gyro sensor measurement value. The control unit; comprising a. The method of claim 11,
And the controller determines that the terminal is in a static state when the amount of time series change is less than or equal to a preset threshold. The method of claim 11,
The control unit, characterized in that for correcting the gyro sensor measurement value corresponding to the static state to be zero. The method of claim 13,
The control unit determines a value added by the gyro sensor measurement value corresponding to the static state to be a correction factor, and adds the correction factor to the gyro sensor measurement value corresponding to the static state to a gyro corresponding to the static state. Terminal for correcting the sensor measurement value. 15. The method of claim 14,
And the controller is configured to correct the entire acceleration sensor measurement value by adding the correction factor to the gyro sensor measurement value corresponding to the dynamic state. In the control method of the terminal for measuring the gyro sensor measured value and the acceleration sensor measured value,
Measuring the gyro sensor measurement and the acceleration sensor measurement;
Measuring a time-series change amount of the acceleration sensor measurement value;
Determining whether the terminal is in a static state based on the time series change amount; And
If the terminal is in a static state as a result of the determination, correcting and outputting the gyro sensor measurement value. 17. The method of claim 16,
Determining whether the terminal is in a static state,
And determining that the terminal is in a static state when the time-series change amount is less than or equal to a preset threshold. 17. The method of claim 16,
Correcting and outputting the gyro sensor measurement value,
And controlling the gyro sensor measurement value corresponding to the static state to be zero. The method of claim 18,
Correcting and outputting the gyro sensor measurement value,
Determining a value of adding a gyro sensor measurement value corresponding to the static state to be zero as a correction factor; And
And correcting the gyro sensor measurement value corresponding to the static state by adding the correction factor to the gyro sensor measurement value corresponding to the static state. The method of claim 19,
And correcting the overall acceleration sensor measurement value by adding the correction factor to the gyro sensor measurement value corresponding to the dynamic state. In the measured value correction method of the terminal for measuring the first measured value and the second measured value,
Calculating a change amount of the first measured value;
Determining whether the change amount of the first measured value is equal to or less than a preset threshold value;
Determining that the terminal is in a static state when the amount of change in the first measured value is less than or equal to the preset threshold; And
If the terminal is in a static state, correcting and outputting the second measured value.

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