WO2006011184A1 - Dispositif de traitement d’azimut, procede de traitement d’azimut, programme de traitement d’azimut, dispositif de mesure d’azimut et dispositif d’affichage d’informations geographiques - Google Patents

Dispositif de traitement d’azimut, procede de traitement d’azimut, programme de traitement d’azimut, dispositif de mesure d’azimut et dispositif d’affichage d’informations geographiques Download PDF

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Publication number
WO2006011184A1
WO2006011184A1 PCT/JP2004/010479 JP2004010479W WO2006011184A1 WO 2006011184 A1 WO2006011184 A1 WO 2006011184A1 JP 2004010479 W JP2004010479 W JP 2004010479W WO 2006011184 A1 WO2006011184 A1 WO 2006011184A1
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WO
WIPO (PCT)
Prior art keywords
data
azimuth
measurement data
offset
offset data
Prior art date
Application number
PCT/JP2004/010479
Other languages
English (en)
Japanese (ja)
Inventor
Hideki Sato
Kiyoshi Yamaki
Masayoshi Omura
Chihiro Osuga
Satoshi Nihashi
Tetsuya Mabuchi
Original Assignee
Yamaha Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yamaha Corporation filed Critical Yamaha Corporation
Priority to PCT/JP2004/010479 priority Critical patent/WO2006011184A1/fr
Priority to PCT/JP2005/007702 priority patent/WO2006011276A1/fr
Priority to US11/149,707 priority patent/US8065083B2/en
Priority to TW094119301A priority patent/TWI277721B/zh
Priority to CN2005800249193A priority patent/CN101023323B/zh
Priority to CN2009102055366A priority patent/CN101738181B/zh
Priority to PCT/JP2005/013469 priority patent/WO2006009247A1/fr
Priority to EP05766407A priority patent/EP1793200A4/fr
Priority to JP2006529294A priority patent/JP4311447B2/ja
Priority to KR1020077001528A priority patent/KR100876030B1/ko
Publication of WO2006011184A1 publication Critical patent/WO2006011184A1/fr
Priority to US12/870,726 priority patent/US8090535B2/en
Priority to US13/306,740 priority patent/US20120072114A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses

Definitions

  • Direction processing apparatus direction processing method, direction processing program, direction measurement apparatus, and geographic information display apparatus
  • the present invention relates to an azimuth processing device, an azimuth processing method, an azimuth processing program, an azimuth measurement device, and a geographic information display device, and more particularly to an offset update processing for an azimuth sensor.
  • portable information terminals such as portable telephones and PDAs are equipped with a geographic information display function using GPS and a direction sensor.
  • the current location is identified by GPS
  • map information around the current location is downloaded from the server via a communication line
  • the orientation is identified by the built-in orientation sensor
  • the orientation on the map matches the actual orientation.
  • portable information terminals that display map information on the screen are known.
  • the direction sensor detects the earth's magnetic field and measures the direction. Actually, however, the magnetic field leaks from a speaker mounted on a portable information terminal, a microphone, or a metal package of a magnetized electronic component. A magnetic field synthesized with the magnetic field of the sphere is detected. For this reason, in order to accurately determine the azimuth, it is necessary to obtain a magnetic field (offset) other than the earth's magnetic field, and correct the measurement data of the azimuth sensor using this offset.
  • Patent Document 1 discloses an offset updating method for an orientation sensor.
  • the offset update method disclosed in this document is based on the measurement data output from the azimuth sensor at 90 or 180 degree intervals when the user rotates the azimuth sensor 90 degrees or 180 degrees or more around a specific axis.
  • the offset of the azimuth sensor is calculated based on the measurement data acquired in this way.
  • the user can rotate the device incorporating the direction sensor, for example, on a horizontal plane so that the direction sensor's measurement data is output from the direction sensor. It is necessary to flip it by holding it in your hand or shake it up and down and left and right.
  • the necessary operation to output the measurement data necessary for updating the direction sensor offset is called the calibration operation.
  • the calibration operation requires a large orientation sensor orientation at a constant angular velocity. Ideally, it should be done in a changing manner.
  • the user may drop the apparatus during the calibration operation. Even if a calibration operation is performed, an accurate offset may not be calculated from the direction sensor measurement data accumulated during the operation. In addition, the calibration operation is troublesome for the user because the exact procedure is not known unless the manual is read, and the operation is only necessary for updating the offset of the direction sensor. Accurate geological information based on accurate azimuth data cannot be displayed unless the offset of the azimuth sensor is accurately updated.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2004-012416
  • the first object of the present invention is to provide an azimuth processing device, an azimuth processing method, an azimuth processing program, an azimuth measuring device, and a geographic information display device with accurate offset data.
  • the second object is to provide an easy geographical information display device.
  • An azimuth processing apparatus for achieving the first object is an azimuth processing apparatus for outputting azimuth data on the basis of measurement data sequentially output from an azimuth sensor.
  • the offset data is data representing the above-described offset, and is a deviation of the measurement data of the direction sensor.
  • the azimuth processing device outputs azimuth data according to the difference between the measurement data and the offset data.
  • the azimuth processing device further includes azimuth data output means for outputting the azimuth data based on the latest measurement data and the offset data.
  • the accuracy of the orientation data is improved by updating the offset data of the orientation sensor based on substantially the latest measurement data and outputting the orientation data based on the measurement data and the updated offset data.
  • the accumulation means may compare the substantially latest measurement data with the measurement data accumulated immediately before, and selectively accumulate the substantially latest measurement data according to the comparison result. .
  • the accuracy of the offset data updated based on the accumulated measurement data is improved by selectively accumulating the measurement data according to the comparison result between the latest measurement data and the measurement data accumulated immediately before. To do.
  • the storage means is selectively substantially according to a distance between a position in the azimuth space represented by the most recent measurement data and a position in the azimuth space represented by the measurement data accumulated immediately before.
  • the latest measurement data may be stored.
  • the azimuth space is a vector space expressed by the output value of the azimuth sensor.
  • the vector space is called the bearing space.
  • the storage means includes a position in the azimuth space represented by the plurality of stored measurement data and a position in the azimuth space represented by the offset data candidate calculated based on the measurement data stored by the storage means.
  • the variation in the distance does not satisfy a predetermined criterion, at least a part of the accumulated measurement data may be deleted, and the offset data may not be updated with the offset data candidates.
  • the offset data candidate If there is a large variation in the distance between the position in the azimuth space represented by the accumulated measurement data and the position in the azimuth space represented by the offset data candidate calculated based on the accumulated measurement data, the offset data candidate The force with which the true offset corresponding to each of multiple measurement data is different from each other, or the measurement data is highly likely to be affected by noise. Therefore, in such a case, the accuracy of the offset data updated based on the accumulated measurement data is improved by deleting and re-accumulating the measurement data.
  • the accumulation unit may delete at least a part of the accumulated measurement data when the variation in the position in the azimuth space represented by the plurality of accumulated measurement data does not satisfy a predetermined reference.
  • the index representing the variation in the position in the azimuth space include a distribution range, a distribution density, and uniformity of the distribution density.
  • the accuracy of the offset data improves as the position in the azimuth space represented by the measurement data on which the offset data is based varies. Therefore, if the variation in position in the location space represented by the accumulated measurement data does not meet the predetermined standard, the measurement data is deleted and then re-accumulated, based on the accumulated measurement data. Improves accuracy of updated offset data.
  • the accumulating unit may accumulate the latest measurement data for each section while updating the latest measurement data for each section of the azimuth space.
  • the measurement data that represents the offset data represents As the position in the position space varies, the accuracy of the offset data improves. Therefore, by accumulating a predetermined number of measurement data while updating each section of the azimuth space, the accuracy of offset data updated based on the accumulated measurement data is improved.
  • the accumulating unit calculates the position in the azimuth space represented by the plurality of accumulated measurement data and the azimuth space represented by the offset data candidate calculated based on the measurement data accumulated by the accumulation unit. If the variation in the distance from the position does not satisfy a predetermined standard, at least a part of the accumulated measurement data may be deleted, and the offset data may not be updated with the offset data candidate.
  • the offset data candidate It is highly possible that the true offset corresponding to each of the multiple measurement data is different from each other, or that the measurement data is affected by noise. Therefore, in such a case, the accuracy of the offset data updated based on the accumulated measurement data is improved by deleting and re-accumulating the measurement data.
  • the accumulation unit may delete at least a part of the accumulated measurement data when the variation in the position in the azimuth space represented by the plurality of accumulated measurement data does not satisfy a predetermined standard.
  • the index representing the variation in the position in the azimuth space include a distribution range, a distribution density, and uniformity of the distribution density.
  • the accuracy of the offset data improves as the position in the azimuth space represented by the measurement data on which the offset data is based varies. Therefore, if the variation in position in the location space represented by the accumulated measurement data does not meet the predetermined standard, the measurement data is deleted and then re-accumulated, based on the accumulated measurement data. Improves accuracy of updated offset data.
  • An azimuth processing apparatus for achieving the first object is an azimuth processing apparatus for outputting azimuth data on the basis of measurement data sequentially output from an azimuth sensor.
  • First accumulation means for accumulating up to a predetermined number, and after the predetermined number of the first measurement data are accumulated by the first accumulation means, the offset data of the azimuth sensor is generated based on the accumulated measurement data.
  • the accuracy of the offset data improves as the position in the position space represented by the measurement data that is the basis of the offset data varies. Therefore, by accumulating a predetermined number of measurement data while updating each section of the azimuth space, the accuracy of offset data updated based on the accumulated measurement data is improved.
  • offset data is generated based on a small number of measurement data if the measurement data storage time is short. Therefore, the accuracy of offset data cannot be improved. Therefore, first, by generating offset data based on measurement data accumulated independently of the orientation space section, and then generating offset data based on measurement data updated for each orientation space section, Certainly the accuracy of the offset data is improved.
  • the azimuth processing device may further include azimuth data output means for outputting the azimuth data based on the most recent measurement data and the offset data.
  • the accuracy of the orientation data is improved by updating the offset data of the orientation sensor based on substantially the latest measurement data and outputting the orientation data based on the measurement data and the updated offset data.
  • the first storage means is calculated based on the position in the azimuth space represented by the plurality of measurement data stored in the first storage means and the measurement data stored by the storage means.
  • the variation in distance from the position in the azimuth space represented by the offset data candidate does not satisfy a predetermined standard, at least a part of the measurement data stored in the first storage unit is deleted, and the offset data candidate The offset data need not be updated.
  • the offset data candidate If there is a large variation in the distance between the position in the azimuth space represented by the accumulated measurement data and the position in the azimuth space represented by the offset data candidate calculated based on the accumulated measurement data, the offset data candidate There is a high possibility that the true offset corresponding to each of multiple measurement data based on each other is different from each other, or that the measurement data is affected by strong noise. Therefore, in such a case, the accuracy of the offset data updated based on the accumulated measurement data is improved by deleting and re-accumulating the measurement data.
  • the first accumulating unit accumulates the first accumulating unit accumulated in the first accumulating unit when variation in position in the azimuth space represented by the plurality of measurement data accumulated in the first accumulating unit does not satisfy a predetermined standard. At least a part of the measurement data may be deleted.
  • the index representing the variation in the position in the azimuth space include a distribution range, a distribution density, and uniformity of the distribution density.
  • the accuracy of the offset data improves as the position in the azimuth space represented by the measurement data on which the offset data is based varies. Therefore, if the variation in position in the location space represented by the accumulated measurement data does not meet the predetermined standard, the measurement data is deleted and then re-accumulated, based on the accumulated measurement data. Improves accuracy of updated offset data.
  • the second accumulating unit has a predetermined variation in distance between the position in the azimuth space represented by the plurality of measurement data accumulated in the second accumulating unit and the position in the azimuth space represented by the offset data. If the standard is not met, it is stored in the second storage means. Further, at least a part of the measurement data may be deleted.
  • the distance between the position in the azimuth space represented by the accumulated measurement data and the position in the azimuth space represented by the offset data updated based on the accumulated measurement data is large, it becomes the basis for the offset data. It is highly possible that the true offsets corresponding to each of the multiple measurement data are different from each other, or that the measurement data is affected by strong noise. Therefore, in such a case, the accuracy of the offset data updated based on the accumulated measurement data is improved by deleting and re-accumulating the measurement data.
  • the second accumulating unit is configured to store the second accumulating unit accumulated in the second accumulating unit when a variation in position in the azimuth space represented by the plurality of measurement data accumulated in the second accumulating unit does not satisfy a predetermined standard. At least a part of the measurement data may be deleted.
  • the index representing the variation in the position in the azimuth space include a distribution range, a distribution density, and uniformity of the distribution density.
  • the accuracy of the offset data improves as the position in the azimuth space represented by the measurement data on which the offset data is based varies. Therefore, if the variation in position in the location space represented by the accumulated measurement data does not meet the predetermined standard, the measurement data is deleted and then re-accumulated, based on the accumulated measurement data. Improves accuracy of updated offset data.
  • the azimuth processing device is It may further comprise reset means for re-accumulating the measurement data by the first accumulation means until the offset data is re-generated.
  • Measurement data output in time-sharing for each measurement axis There is a high possibility that the data is output when the direction sensor detects different directions because the moving speed is too fast, or it is affected by local magnetic field fluctuations. In such a case, the accuracy of the offset data updated based on the accumulated measurement data is improved by deleting the measurement data accumulated under these circumstances and then reaccumulating the measurement data. .
  • the geographical information display device for achieving the second object transmits a microphone, an operation unit that receives a communication operation including a call operation, and an acoustic signal output from the microphone when the call operation is received.
  • Communication means a display unit connected to the operation unit so as to be able to reciprocate between a first posture overlapping the operation unit and a second posture separated from the operation unit, an orientation sensor for sequentially outputting measurement data, Offset data updating means for starting accumulation of the measurement data in accordance with the operation of the display unit changing from the first attitude to the second attitude, and updating the offset data based on the accumulated measurement data;
  • Azimuth data output means for outputting azimuth data based on the latest measurement data and the offset data, Based on the serial azimuth data and a display control means for displaying geographic information on said display unit.
  • the user When the user performs a transmission operation from the state where the display unit overlaps the operation unit, the user separates the display unit from the operation unit and performs a transmission operation on the operation unit.
  • the attitude of the geographic information display device changes greatly. Therefore, when the accumulation of measurement data of the direction sensor is started in accordance with the operation in which the attitude of the display unit changes to the second attitude away from the operation unit, the first attitude force that overlaps the operation unit is stored.
  • the position in the azimuth space represented by the measurement data varies greatly. Therefore, according to the geographic information display device that updates the offset data of the direction sensor based on the measurement data accumulated in this way, the user does not need to perform a special operation for calibration.
  • the display unit incorporates the orientation sensor.
  • the attitude of the display unit changes more greatly than the operation unit.
  • the accuracy of the offset data improves. Therefore, the accuracy of the offset data is improved by incorporating the orientation sensor in the display unit.
  • the offset data update means may end the accumulation of the measurement data upon completion of the operation.
  • the hardware resource allocation for the accumulation process is released.
  • the offset data update means is configured to change the offset according to a change in a magnetic field applied to the direction sensor due to a magnetic force (line) leaking from at least one of the operation unit and the display unit accompanying the operation. Data may be corrected.
  • the direction sensor measurement data is affected by the magnetic force (line) leaking from the geographic information display device. Since the influence changes during the change in the attitude of the display unit, the accuracy of the offset data is improved by correcting the offset data in consideration of the change.
  • a geographic information display device for achieving the second object includes an orientation sensor that sequentially outputs measurement data, an operation unit that accepts a display operation, a first posture that overlaps the operation unit, and a first posture separated from the operation unit.
  • a display unit connected to the operation unit so as to be able to reciprocate between two positions, and the display unit starts accumulating the measurement data in accordance with an operation of changing from the second position to the first position.
  • Offset data updating means for updating offset data of the orientation sensor based on the measurement data
  • orientation data output means for outputting orientation data based on the most recent measurement data and the offset data
  • the display Display control means for displaying geographical information on the display unit based on the azimuth data according to operation. That.
  • the user At the end of the operation of the geographic information display device, the user is away from the operation unit. There is a high possibility that the mobile phone is placed on the operation unit and the geographical information display device is put in a pocket or a bag of clothes. Therefore, when the accumulation of measurement data of the direction sensor is started in accordance with the operation in which the attitude of the display unit changes to the first attitude that overlaps the operation unit, the second attitude force that is separated from the operation unit, a plurality of accumulated measurement data are stored. The position in the azimuth space to represent varies greatly. Therefore, according to the geographical information display device that updates the offset data of the bearing sensor based on the measurement data accumulated in this way, the user does not need to perform a special operation for the calibration.
  • the display unit incorporates the orientation sensor.
  • the user stacks the display unit on the operation unit, so that the attitude of the display unit changes more greatly than the operation unit.
  • the accuracy of the offset data improves. Therefore, the accuracy of the offset data is improved by incorporating the orientation sensor in the display unit.
  • the offset data update means may end the accumulation of the measurement data when the display unit completes the operation.
  • the hardware resource allocation for the accumulation process is released.
  • the offset data update means is configured to change the offset according to a change of the magnetic field applied to the direction sensor due to a magnetic force leaked from at least one of the operation unit and the display unit. Data may be corrected.
  • the measurement data of the azimuth sensor is affected by the leakage power of the geographic information display device. Since the influence changes during the change in the attitude of the display unit, the offset data accuracy is improved by correcting the offset data in consideration of the change.
  • the geographic information display device for achieving the second object sequentially outputs measurement data.
  • Azimuth sensor, screen, communication means, reception notification means for informing reception by the communication means, and accumulation of the measurement data is started upon reception by the communication means, and the accumulated measurement data Offset data updating means for updating the offset data of the orientation sensor based on the above, orientation data output means for outputting the orientation data based on the most recent measurement data and the offset data, and the orientation data Display control means for displaying geographic information on the screen based on the display screen.
  • the geographic information display device When the geographic information display device notifies the reception, the user is likely to take out the geographic information display device from the pocket of clothes. During this operation, the attitude of the geographic information display device changes greatly. Therefore, when the accumulation of measurement data of the azimuth sensor is started as the acoustic signal is received, the positions in the azimuth space represented by a plurality of accumulated measurement data vary greatly. Therefore, according to the geographic information display device that updates the offset data of the direction sensor based on the measurement data accumulated in this way, the user does not need to perform a special operation for calibration.
  • the geographic information display device is connected to the operation unit so as to be able to reciprocate between an operation unit that accepts a display operation, a first posture that overlaps the operation unit, and a second posture that is separated from the operation unit.
  • a built-in display unit may be further provided.
  • the offset data update unit may end the accumulation of the measurement data when the operation of the display unit changing from the first posture to the second posture is completed. After the measurement data has been accumulated, the allocation of hardware resources to other processes increases. [0038] (36)
  • the offset data update means is configured to detect the offset data according to a change in the magnetic field applied to the direction sensor due to a magnetic force leaking from at least one of the communication unit and the display unit. May be corrected.
  • the measurement data of the azimuth sensor is affected by the leakage power of the geographic information display device. Since the influence changes during the change in the attitude of the display unit, the offset data accuracy is improved by correcting the offset data in consideration of the change.
  • the geographic information display device for achieving the second object includes an orientation sensor that sequentially outputs measurement data, an operation unit that receives a communication operation including a transmission operation, a communication unit that transmits in response to the transmission operation, An offset data updating unit that starts accumulating the measurement data in response to an operation in which the operation unit receives the transmission operation, and updates the offset data of the direction sensor based on the accumulated measurement data; Azimuth data output means for outputting azimuth data based on the qualitatively latest measurement data and the offset data, and display control means for displaying geographic information on the display unit based on the azimuth data. .
  • the user may move the geographic information display device closer to his / her head for a call or may cause the geographic information display device to be put in a pocket of clothes. Is expensive.
  • the attitude of the geographic information display device changes greatly. Therefore, when the accumulation of measurement data of the azimuth sensor is started in response to the operation for accepting the transmission operation, the position in the azimuth space represented by the plurality of accumulated measurement data varies greatly. Therefore, according to the geographical information display device that updates the offset data of the direction sensor based on the measurement data accumulated in this way, the user does not need to perform a special operation for calibration.
  • a geographic information display device for achieving the second object includes an operation unit that accepts a display operation and a screen, and a first posture force that a back surface of the screen overlaps the operation unit. Up to two postures, centering on an axis that is almost perpendicular to the screen A display unit that is swingably connected to the operation unit, a direction sensor that is built in the display unit and sequentially outputs measurement data, and an operation period during which the display unit changes from the first posture to the second posture.
  • Offset data updating means for accumulating the measurement data and updating offset data of the orientation sensor based on the accumulated measurement data, and direction data based on the most recent measurement data and the offset data
  • Azimuth data output means for outputting
  • display control means for displaying geographic information on the display unit based on the azimuth data in response to the display operation.
  • An operation unit that accepts a display operation and a screen, and swings around an axis that is substantially perpendicular to the screen from a first posture in which the back surface of the screen overlaps the operation unit to a second posture away from the operation unit.
  • a display unit that is movably connected to the operation unit, a direction sensor that is built in the display unit and sequentially outputs measurement data, and the display unit changes from the second posture to the first posture.
  • the offset data updating means for accumulating the measurement data during an operation period and updating the offset data of the azimuth sensor based on the accumulated measurement data, and based on the most recent measurement data and the offset data.
  • Direction data output means for outputting direction data, and according to the display operation, geographical information is displayed on the display unit based on the direction data. Comprising a display control means for, the.
  • the offset data update means responds to a change in the magnetic field applied to the direction sensor due to the magnetic force leaked from at least one of the communication unit and the display unit, and the displacement of the display unit.
  • the offset data may be corrected.
  • the measurement data of the azimuth sensor is affected by the leakage power of the geographic information display device. Since the influence changes during the change in the attitude of the display unit, the offset data accuracy is improved by correcting the offset data in consideration of the change.
  • the geographic information display device that achieves the second object described above sequentially includes a direction sensor that sequentially outputs measurement data, an exterior having a screen, light sources scattered on two or more surfaces of the exterior, and a plurality of the light sources.
  • a light emission control means for emitting light
  • an offset data updating means for accumulating the measurement data during a period in which the light source emits light in sequence, and updating the offset data of the direction sensor based on the accumulated measurement data
  • Azimuth data output means for outputting azimuth data based on the latest measurement data and the offset data, and display control means for displaying geographic information on the screen based on the azimuth data.
  • the user's attention is drawn in the order of light emission. If the light sources scattered on multiple surfaces of the exterior emit light sequentially, the user can see the light source that emits light, that is, the geological information display so that the surface with the light source that is emitting is facing you.
  • the possibility of manipulating the attitude of the device is high. Therefore, during a period in which light sources scattered on two or more surfaces of the exterior emit light sequentially, the position in the orientation space represented by the measurement data of the orientation sensor that changes its attitude with the exterior is likely to vary greatly. Therefore, the offset data of the direction sensor is updated based on the measurement data accumulated during this period. According to the geographic information display device, the offset data is updated without making the user strongly aware of the calibration operation. The necessary measurement data can be accumulated.
  • the geographic information display device for achieving the second object sequentially outputs measurement data.
  • An orientation sensor an exterior having a screen on two or more surfaces, a target display control means for displaying a target on the screen, and moving the target in a range of two or more surfaces of the exterior; and during the movement period of the target Offset data updating means for accumulating the measurement data and updating offset data of the orientation sensor based on the accumulated measurement data, and a direction based on the most recent measurement data and the offset data.
  • Azimuth data output means for outputting data
  • geographical display control means for displaying geographical information on the screen based on the azimuth data.
  • the geographic information display device for achieving the second object includes an orientation sensor that sequentially outputs measurement data, an exterior having a screen, the measurement data is accumulated, and the orientation is based on the accumulated measurement data.
  • Offset data updating means for updating the offset data of the sensor, and operation guidance control means for notifying guidance for operating the orientation sensor on the screen according to the measurement data during the accumulation period of the measurement data
  • Azimuth data output means for outputting azimuth data based on the most recent measurement data and offset data
  • geographic display control means for displaying geographic information on the screen based on the azimuth data.
  • the offset data updating means determines whether the accumulated measurement data is either pass or fail, and updates the offset data based on the accumulated measurement data only when it is determined to be acceptable.
  • the geographic information display device may further include failure notification means for notifying the failure when the accumulated measurement data is determined to be failed.
  • the offset data is updated more accurately as there are a plurality of measurement data on which the offset data is based, and the position in the azimuth space represented by the measurement data varies. Therefore, if the offset data is updated only when a plurality of measurement data on which the offset data is based meets a specific standard, the offset data is updated accurately. In addition, according to the geographic information display device in which a plurality of measurement data on which offset data is based does not satisfy a specific standard, a failure is notified in some cases, the user can be prompted to re-execute the calibration operation. .
  • the geographic information display device may further include a pass notification unit that notifies pass when the accumulated measurement data is determined to be pass.
  • the user can confirm the reliability of the geographic information.
  • each function of the plurality of means provided in the present invention is realized by a hardware resource whose function is specified by the configuration itself, a hardware resource whose function is specified by a program, or a combination thereof. Further, the functions of the plurality of means are not limited to those realized by hardware resources that are physically independent of each other.
  • the present invention can be specified not only as an invention of a program but also as an invention of a program, an invention of a recording medium on which the program is recorded, and an invention of a method.
  • the telephone 1 is a small portable telephone having a wireless call function and a map display function around the current location.
  • the telephone 1 includes an operation unit 2 having a plurality of keys 21 and a display unit 3 having a screen 31.
  • the display unit 3 is swingably connected to the operation unit 2. As shown in FIG. 3, when the display unit 3 is overlapped with the operation unit 2, the key 21 of the operation unit 2 is covered with the display unit 3, and the screen 31 of the display unit 3 is covered with the operation unit 2.
  • the button 33 is pressed while the display unit 3 overlaps the operation unit 2, the display unit 3 swings due to the elasticity of the panel (not shown), and the display unit 3 moves away from the operation unit 2 as shown in FIG. .
  • FIG. 4 is a block diagram showing a hardware configuration of the telephone 1.
  • the RF unit 202 serving as a communication unit includes a duplexer, an amplifier, a filter, and the like that allow a reception signal to pass through a reception-side circuit and a transmission signal to pass through an antenna 200.
  • the modulation / demodulation unit 204 demodulates the received signal with a demodulator, converts it to a digital signal with an A / D converter, and outputs the digital signal to the C DMA unit 206 as a baseband signal.
  • the modulation / demodulation unit 204 converts the baseband signal output from the CDMA unit 206 into an analog signal by a D / A converter and then modulates it by the modulator during transmission, and sends the modulated analog signal to the RF unit 202 as a transmission signal. Output.
  • the CDMA unit 206 as a communication means separates a control signal and a voice signal for communication between the base station and the telephone set 1, a circuit for performing a spreading process or a despreading process by adding a spreading code to the signal Alternatively, a circuit for synthesis is provided.
  • CDMA section 206 performs despreading processing on the baseband signal output from modulation / demodulation section 204, and separates the signal after despreading processing into a control signal and a voice signal.
  • the CDMA unit 206 at the time of transmission performs spreading processing after synthesizing a control signal with the audio signal output from the audio processing unit 208. Then, CDMA section 206 outputs the signal after spreading processing to modulation / demodulation section 204 as a baseband signal.
  • the voice processing unit 208 as a communication means displays a D / A converter, an A / D converter, and a speech voice. And a voice compression circuit for compressing the digital signal.
  • the voice processing unit 208 at the time of reception converts the voice signal output from the CDMA unit 206 into an analog signal by the D / A converter, and outputs the analog signal to the voice speaker 300 as a received voice signal. Further, the voice processing unit 208 at the time of transmission converts an electric signal representing the speech voice output from the microphone 210 into a digital signal by an A / D converter, and compresses the digital signal by a voice compression circuit to generate a voice signal. .
  • the microphone 210 is provided in the operation unit 2.
  • the microphone 210 converts the user's speech voice into an electrical signal.
  • the GPS receiving unit 214 includes an amplifier, a frequency converter, an AZD converter, a circuit that generates position data based on the GPS signal received by the antenna 212, and the like.
  • the position data is data that can uniquely identify the current position of the telephone 1 on the earth.
  • the GPS receiver 214 amplifies the GPS signal with an amplifier, and then converts it to a predetermined frequency with a frequency converter.
  • the GPS receiving unit 214 converts the analog signal output from the frequency converter into a digital signal by an A / D converter, and generates the digital signal force position data.
  • the CPU 216 is connected to peripheral devices such as a main operation unit 224, a sub operation unit 302, an imaging unit 304, a display unit 306, and a light emitting unit 308 via an I / O interface (not shown).
  • the CPU 216 controls the entire telephone 1 by loading various computer programs stored in the ROM 218 into the RAM 220 and executing them.
  • the main operation unit 224 is provided in the operation unit 2 and includes various keys 21. When the key 21 is pressed, the main operation unit 224 receives a user operation by outputting a predetermined signal to the CPU 216.
  • the audio speaker 300 is provided in the display unit 3.
  • the audio speaker 300 generates a received voice by radiating a sound wave into the space according to the received voice signal output from the voice processing unit 208.
  • the sub operation unit 302 is provided in the display unit 3 and includes a dial switch 32. When the diamond switch 32 rotates, the sub-operation unit 302 receives a user operation by outputting a predetermined signal to the CPU 216.
  • the imaging unit 304 is provided in the display unit 3, and includes a lens 34, an area image sensor (not shown). And an AD converter and an image processor.
  • the lens 34 is provided on the back side of the screen 31, has an optical axis perpendicular to the screen 31, and images an object on the optical axis to the area image sensor.
  • the display unit 306 includes a screen 31 configured by a liquid crystal display panel, a display circuit, a frame memory, and the like.
  • the light emitting unit 308 as a notification unit includes a plurality of light sources 35 (see FIG. 3) provided in the display unit 3 and configured by LEDs or the like.
  • the light source 35 is provided on the back side of the screen 31, emits light according to a reception notification signal output from the CPU 216, and notifies the user of reception.
  • the open / close sensor 309 detects the fully closed state, the fully opened state, and the intermediate state of the display unit 3. Therefore, the open / close sensor 309 can detect the timing when the display unit 3 starts to open from the fully closed state and the timing when the display unit 3 starts to close from the fully open state.
  • the notification speaker 310 as notification means is provided in the display unit 3. Notification speaker
  • the 310 emits a sound wave to the space according to the notification sound signal output from the sound source unit 312 to generate a reception sound and notifies the user of the reception.
  • the vibration unit 314 as notification means includes an actuator that generates vibration.
  • the vibration unit 314 vibrates according to the reception notification signal output from the CPU 216 and notifies the user of reception.
  • the timekeeping unit 316 has a real time clock, an oscillator, and the like, and outputs timekeeping data to the CPU 216.
  • the time data is data representing, for example, year, day, hour, minute, second, day of the week.
  • the direction sensor module 318 is provided in the display unit 3.
  • the orientation sensor module 318 is a three-axis magnetic sensor 334, 336, 338, a thermistor, or a band gap reference type that detects the direction and magnitude of the geomagnetism (the magnetic field of the earth) by breaking it into three axes orthogonal to each other.
  • the temperature sensor 330 and the like, and the interface unit 320 with the control unit 40 are provided.
  • the magnetic sensors 334, 336, and 338 are magnetoresistive sensors having a magnetoresistive element and a coil for applying a bias magnetic field to the magnetoresistive element.
  • the switching unit 332 outputs any one of the output signals output from the magnetic sensors 334, 336, and 338 as a magnetic sensor signal.
  • the switching unit 326 includes a magnetic sensor signal amplified by the amplifier 328, an output signal of the temperature sensor 330, and an output signal output from the inclination sensors 342, 344, and 346. Output one of the numbers.
  • the output signal output from the switching unit 326 is sampled by the A / D converter 324 based on the clock signal output from the oscillator 322.
  • the interface unit 320 outputs the digital signal output from the A / D converter 324 to the control unit 40 as measurement data.
  • the orientation sensor module 318 is output from the output signals output from the magnetic sensors 3 34, 336, and 338, the output signal of the temperature sensor 330, and the tilt sensors 342, 344, and 346 mounted on the attitude sensor module 340.
  • Measurement data corresponding to one of the output signals is output.
  • the switching unit 326 and the switching unit 332 may select and output an arbitrary output signal based on the control of the control unit 40, or select a predetermined output signal in a predetermined order and timing. May be output.
  • the attitude sensor module 340 is connected to the switching unit 326 of the orientation sensor module 318, and is decomposed into three axes orthogonal to each other to detect the direction and magnitude of gravity, and three axis tilt sensors 342, 344, It is equipped with 346. Cirro-sensors 342, 344, 346 ⁇ , sensors with piezoelectric vibration jacks, etc.
  • the analog output signal of the attitude sensor module 340 is input to the orientation sensor module 318.
  • FIG. 5, FIG. 6, and FIG. 7 are schematic diagrams for explaining the relationship between the azimuth sphere indicated by the offset data calculated based on the azimuth measurement data and the correct azimuth sphere.
  • An azimuth sphere is a sphere centered at a point on the azimuth space corresponding to the offset of the azimuth sensor and whose radius corresponds to the strength of the geomagnetism.
  • an azimuth circle that is a projection of the azimuth sphere onto the xy plane is shown instead of the azimuth sphere.
  • the orientation measurement data must be distributed in a range of 90 degrees or more around the center of the three orientation circles that are projections of the correct orientation sphere onto each coordinate plane. I want it. As shown in Fig.
  • the position in the azimuth space represented by the azimuth measurement data stored immediately before (hereinafter simply referred to as the position of the azimuth measurement data) and the direction measurement unit 66
  • the latest direction measurement data is stored only when the distance d to the position of the latest direction measurement data to be output is a predetermined value or more (see step S208 described later).
  • the direction offset data is not calculated until the number of azimuth measurement data reaches a predetermined number (for example, 25) or more (see step S212 described later).
  • Acceptance criteria 1 The difference between the maximum value and the minimum value of each axis of coordinates represented by the accumulated azimuth measurement data (Wx, Wy, Wz: see Fig. 9) is larger than the calculated radius of the azimuth sphere. Even if the z-coordinate does not meet the standard, it may be accepted if the xy-coordinate meets the standard. For example, when the z coordinate does not satisfy the standard, only the offsets of the X-axis magnetic sensor 334 and the y-axis magnetic sensor 336 may be updated.
  • Acceptance criteria 2 The variance of the distance (r: see Fig. 10) from the calculated center of the azimuth sphere to the position of the accumulated azimuth measurement data is less than the predetermined value. For example, if the variance is less than one-fifth of the calculated azimuth sphere radius, it will be acceptable, and less than one-tenth will be acceptable. Even if the z-coordinate does not meet the standard, it may be accepted if the xy-coordinate meets the standard.
  • the azimuth offset data is updated in mode A, the azimuth offset update process transitions to mode B.
  • the azimuth sphere is partitioned as shown in FIG. 11, and a predetermined number (for example, one) of azimuth measurement data is updated and stored for each section.
  • the section is an angle formed by a line segment connecting the intersection of the perpendicular line drawn from the position of the azimuth measurement data to the xz plane with the xz plane and the center of the calculated azimuth sphere with the X axis ( It can be set according to the angle ( ⁇ y) between the line segment connecting the position of the orientation measurement data and the center of the orientation sphere with the xz plane.
  • the direction measurement data is already stored in the section to which the latest direction measurement data belongs, the old direction measurement data is overwritten with the latest direction measurement data (see step S232 described later).
  • the distance (D) from the center of the bearing sphere corresponding to the previously calculated bearing offset data to the position of the latest bearing measurement data is the previously calculated bearing offset. It is considerably larger than the radius (Rs) of the azimuth sphere corresponding to the data (see Fig. 12).
  • the direction sensor module 318 outputs the direction measurement data of each axis in a time division manner, the same phenomenon occurs even if the telephone 1 is moved too quickly. The same phenomenon occurs even if the magnetic field applied to the telephone 1 fluctuates greatly in a short time.
  • the azimuth offset data is calculated based on the azimuth measurement data accumulated in the past, the error of the offset data increases. Therefore, when such a situation occurs in mode B, the azimuth processing mode shifts to mode A (see steps S230, S244, and S246 described later).
  • FIG. 13 is a block diagram showing functional elements of the orientation processing device, orientation measuring device, and geographic information display device.
  • the azimuth measuring unit 66 is composed of the azimuth sensor module 318 and corresponds to the output values of the X-axis magnetic sensor 334, the y-axis magnetic sensor 336, and the z-axis magnetic sensor 338 according to the attitude and geomagnetism of the telephone 1. Output dimensional orientation measurement data.
  • the wholesaler 40 includes a CPU 216, a ROM 218, a RAM 220, and a geographical information display program executed by the CPU 216.
  • the azimuth calculation unit 48 as the azimuth data output means is configured by a geographic information display program, and azimuth data indicating the azimuth based on the azimuth measurement data, the azimuth offset data, the tilt measurement data, and the tilt offset data. Output.
  • the azimuth calculation unit 48 may correct the azimuth data with reference to the temperature measurement data output from the temperature sensor 330.
  • the azimuth data is the data indicating the north direction of the straight line L included in both the plane plane perpendicular to the ground surface and the screen 31 in parallel with the magnetic field vector indicating the direction and strength of the magnetic field (geomagnetism). It is.
  • the azimuth calculation unit 48 determines the azimuth data based on the azimuth offset data set at the previous end of the geographic information display program during the period until a predetermined number of azimuth measurement data is accumulated. Is calculated.
  • mode A a predetermined number of azimuth measurement data is accumulated, and azimuth offset data is calculated based on the accumulated azimuth measurement data.
  • the azimuth calculation unit 48 calculates the azimuth data from the force S without updating the azimuth offset data in mode B of the azimuth offset update process.
  • the direction data storage unit 50 is configured by a geographic information display program, and stores the direction data in a predetermined area of the RAM 220.
  • the azimuth display unit 52 as the geographic display control means is configured by a geographic information display program, and displays geographic information on the screen 31 based on the azimuth data and the position data.
  • the azimuth display unit 52 displays, for example, a north direction on the screen 31 as geographic information, or displays a map around the current location on the screen 31 according to the attitude of the telephone 1.
  • the storage determination unit 58 as the first storage means is configured by a geographic information display program, and determines whether or not the latest azimuth measurement data is stored in mode A.
  • the first azimuth measurement data storage unit 60 as the first accumulation means is composed of a geographic information display program. In the mode A, up to a predetermined number of azimuth measurement data determined as the accumulation target by the storage determination unit 58 are stored in the RAM 220. Stored in a predetermined area.
  • the second azimuth measurement data storage unit 62 as the second storage means is configured by a geographic information display program, and in mode B, azimuth measurement is performed for each area set in the RAM 220 for each section in the azimuth space. Store the data and update the direction measurement data for each area so that only one latest direction measurement data is stored for each area. Note that the number of orientation measurement data stored for each region may be two or more as described above.
  • the azimuth offset calculation unit 56 is configured by a geographic information display program, and calculates azimuth offset data based on the accumulated azimuth measurement data.
  • the calculation formula of the bearing offset data is as follows, for example.
  • the bearing offset data can be calculated using other calculation formulas. For example, if the azimuth offset data is calculated based on the azimuth measurement data of the biaxial azimuth sensor, the calculation formula can be modified according to the two-dimensional azimuth measurement data.
  • ⁇ y.3 ⁇ 4 ( ; -XOs) 2 + A y 2 (y i -YOsf + ( ⁇ , ⁇ — ZOs) 2 -Rs 2
  • Sensitivity ratio of z-axis magnetic sensor 338 to X-axis magnetic sensor 334 Ax
  • Sensitivity ratio of z-axis magnetic sensor 338 to y-axis magnetic sensor 336 Ay
  • the azimuth offset storage unit 54 as the azimuth offset update means is configured by a geographic information display program, verifies the azimuth offset data, and the azimuth offset data calculated by the azimuth offset calculation unit 56 satisfies the acceptance criteria.
  • the azimuth offset data stored in a predetermined area of the RAM 220 is overwritten.
  • the tilt measuring unit 64 includes an attitude sensor module 340 and an orientation sensor module 318, and is a three-dimensional corresponding to the output values of the X-axis tilt sensor 342, the y-axis tilt sensor 344, and the z-axis tilt sensor 346. Output tilt measurement data. Tilt measurement data represents the magnitude and direction of gravity.
  • the tilt measurement data storage unit 42 is configured by a geographic information display program, stores tilt measurement data for each area set in the RAM 220 for each partition in the gravity sphere, and stores the latest tilt measurement data for each area. Tilt measurement data is updated for each region so that only one is stored. Note that the number of tilt measurement data stored for each region may be two or more.
  • a gravity sphere is a sphere defined in a vector space represented by three-dimensional tilt measurement data corresponding to the output values of the X-axis tilt sensor 342, the y-axis tilt sensor 344, and the z-axis tilt sensor 346.
  • the center of the gravity sphere corresponds to the offset and sensitivity of the attitude sensor module 340.
  • the gravity sphere used to set the compartment is defined based on the latest tilt offset and sensitivity.
  • Tilt offset 'Sensitivity calculation unit 44 is configured by a geographic information display program, and based on tilt measurement data, X-axis tilt sensor 342, y-axis tilt sensor 344, and z-axis tilt sensor 346 The slope offset and sensitivity of the are calculated.
  • the tilt offset 'sensitivity storage unit 46 is composed of a geographic information display program, verifies the tilt offset and sensitivity, and if the acceptance criteria are met, the X-axis tilt sensor 342 calculated by the tilt offset' sensitivity calculation unit 44, The tilt offset and sensitivity of the y-axis tilt sensor 344 and z-axis tilt sensor 346 are stored in a predetermined area of the RAM 220.
  • the display unit 52, the tilt measurement data storage unit 42, the tilt offset 'sensitivity calculation unit 44, and the tilt offset' sensitivity storage unit 46 are logic circuits whose functions are specified only by hardware without executing the computer program. It can also be realized.
  • FIG. 15 and FIG. 1 are flowcharts showing a specific azimuth processing method by the control unit 40 using the algorithm described above.
  • the control unit 40 When the main operation unit 224 receives the user's geographic information display request, the control unit 40 starts the geographic information display program, and the control unit 40 starts the following azimuth offset update process (S100).
  • the azimuth offset updating process is repeatedly executed after the geographic information display program is started until the geographic information display program ends.
  • control unit 40 reads from the nonvolatile memory the last azimuth offset data stored in the predetermined area of the RAM 220 by the azimuth offset storage unit 54 immediately before the end of the previous geographic information display program. (S102). Thereafter, during the period until the azimuth offset data is updated in mode A, the azimuth calculation unit 48 calculates the azimuth data using the azimuth offset data stored at this stage.
  • control unit 40 sets the azimuth processing mode to mode A. That is, the control unit 40 calculates the azimuth offset data in mode A immediately after receiving the user's geographical information display request.
  • step S106 the control unit 40 sets the reading interval of the direction measurement data. Specifically, a timer is set.
  • step S202 the azimuth calculation unit 48 and the storage determination unit 58 or the second azimuth measurement data storage unit 62 acquire the azimuth measurement data output from the azimuth measurement unit 66.
  • the azimuth calculation unit 48, the storage determination unit 58, or the second azimuth measurement data storage unit 62 acquires substantially the latest azimuth measurement data at the time interval set in the timer. Acquired by the storage determination unit 58 in mode A, and acquired by the second azimuth measurement data storage unit 62 in mode B. Calculate bearing data based on data and tilt sensitivity data.
  • step S206 the control unit 40 determines the current mode.
  • the storage determination unit 58 determines whether or not to store the azimuth measurement data acquired in step S202 (S208). As described above, the storage determination unit 58 is updated only when the distance between the position of the direction measurement data accumulated immediately before and the position of the latest direction measurement data output from the direction measurement unit 66 is equal to or greater than a predetermined value. Is determined as an accumulation target.
  • step S 210 the first azimuth measurement data storage unit 58 accumulates the latest azimuth measurement data to be accumulated in the array A secured in the RAM 220.
  • step S212 the azimuth offset calculator 56 determines whether to calculate azimuth offset data based on the accumulated azimuth measurement data. As described above, the azimuth offset calculation unit 56 counts the number of azimuth measurement data stored in the array A, and calculates the azimuth offset data when the number is equal to or greater than a predetermined number (for example, 25). Judge that it should be.
  • a predetermined number for example, 25
  • step S214 the azimuth offset calculation unit 56 calculates azimuth offset data based on the azimuth measurement data stored in the array A.
  • the calculation formula used for the calculation is as described above.
  • step S216 the azimuth offset storage unit 54 verifies the azimuth offset data calculated in step S214 against the above-mentioned acceptance criteria 1 and 2, and determines the azimuth offset data. If the data satisfies the acceptance criteria 1 and 2, the direction offset data is stored in a predetermined area of the RAM 220, and the direction offset data is updated (steps S218 and S220).
  • control unit 40 sets the direction offset update processing mode to mode B.
  • step S224 the second azimuth measurement data storage unit 62 moves the azimuth measurement data stored in the array A in mode A to the layout IJB for storing the azimuth measurement data in mode B.
  • One array element of array B is set for each section of the orientation sphere described above. Therefore, in step S224, based on the position of the orientation measurement data accumulated in the array A, the array element of the array B corresponding to each orientation measurement data is specified, and each orientation measurement data is assigned to the array element of the corresponding array B. To store. When multiple orientation measurement data corresponding to a specific array element of array B are stored in array A, one of them is stored in array B.
  • the first azimuth measurement data storage unit 60 stores the azimuth measurement data from which the azimuth offset data is calculated. It is determined whether or not a predetermined number (for example, 30) of azimuth measurement data is stored in the array A (step S226). When a predetermined number of direction measurement data is stored in array A, the predetermined number (for example, the oldest one) of direction measurement data is deleted in order from the oldest. If it is determined that the azimuth offset data is not acceptable, the first azimuth measurement data storage unit 60 may delete all the azimuth measurement data in array A.
  • a predetermined number for example, 30
  • step S230 the control unit 40 determines whether or not the azimuth offset has moved significantly. Specifically, as shown in FIG. 12, the control unit 40 determines that the distance (D) from the center of the bearing ball corresponding to the bearing offset data to the position of the latest bearing measurement data corresponds to the bearing offset data. If it is considerably larger than the radius (Rs), it is determined that the bearing offset has moved greatly.
  • control unit 40 sets the azimuth offset update processing mode to mode A (S244), and all the azimuth measurement data stored in the array A and the layout 1JB are stored. It is deleted (S246).
  • the second azimuth measurement data storage unit 62 When the azimuth offset does not move significantly, the second azimuth measurement data storage unit 62 accumulates the latest azimuth measurement data in the 1JB array element in which the array elements are set for each azimuth sphere section described above (step S232). . At this time, when the old layout measurement data is stored in the array element, the second orientation measurement data storage unit 62 newly updates the old layout and direction measurement data with the layout measurement data.
  • the azimuth offset calculation unit 56 determines whether or not azimuth offset data needs to be calculated. Specifically, the azimuth offset calculation unit 56 determines that the azimuth offset should be calculated when the array element for storing new azimuth measurement data is empty in step S232. If the orientation measurement data is stored in the array element that is going to store the orientation measurement data, and if the orientation offset data is recalculated taking into account the latest orientation measurement data, it will be more than the previous calculation. This is because azimuth offset data is calculated based on azimuth measurement data with a large number of data and a wide distribution. Further, the direction offset calculation unit 56 does not store the direction measurement data in the array element in step S232, but if the array B is continuously updated a predetermined number of times (for example, 100 times), Determine that the bearing offset data should be recalculated.
  • the azimuth offset calculation unit 56 determines whether or not azimuth offset data needs to be calculated. Specifically, the azimuth offset calculation unit 56 determines that the azimuth offset should
  • step S236 the azimuth offset calculation unit 56 calculates azimuth offset data based on the azimuth measurement data stored in the array B.
  • the calculation formula is the same as in mode A and is as described above.
  • step S2308 the azimuth offset storage unit 54 verifies the azimuth offset data calculated in step S236.
  • the verification method is the same as that in step S216 of mode A and is as described above.
  • the azimuth offset storage unit 54 stores the azimuth offset data in a predetermined area of the RAM 220 and updates the azimuth offset data (steps S240 and S242).
  • the control unit 40 sets the azimuth processing mode to mode A (step S244), and array A and array B All the direction measurement data of is deleted (step S246).
  • FIG. 16 is a flowchart showing a tilt processing method by the control unit 40. The sequence shown in FIG. 16 is repeatedly executed at the time interval set in step S106.
  • step S302 the inclination measurement data storage unit 42 reads the latest inclination measurement data output from the inclination measurement unit 64.
  • step S304 the tilt measurement data storage unit 42 stores the tilt measurement data in the array in which the array elements are set for each section in accordance with the process of storing the direction measurement data for each section of the azimuth sphere in mode B. accumulate.
  • step S306 the inclination offset'sensitivity calculation unit 44 determines whether to calculate inclination offset data and inclination sensitivity data based on the accumulated inclination measurement data.
  • the judgment criteria are the same as the recalculation judgment criteria in mode B.
  • tilt measurement data corresponding to an empty section is read, and when the array is updated continuously for a predetermined number of times (for example, 100 times).
  • the slope offset 'sensitivity calculation unit 44 determines that recalculation is necessary.
  • step S308 the inclination offset 'sensitivity calculation unit 44 calculates inclination offset data and inclination sensitivity data representing the sensitivity of the attitude sensor module 340 in accordance with the direction offset data calculation method described in the direction processing. .
  • step S310 the inclination offset'sensitivity storage unit 46 verifies the inclination offset data and inclination sensitivity data calculated in step S308 by a method according to the method of step S216 of mode A.
  • the slope offset 'sensitivity storage unit 46 determines that the slope offset data and the slope sensitivity data are acceptable, the data is stored in a predetermined area of the RAM 220 and the data is updated (step S312). , S314). Thereafter, when the azimuth data is calculated by the azimuth calculation unit 48 (see step S204), it is performed based on the updated tilt offset data and tilt sensitivity data.
  • the azimuth offset data is continuously updated based on the latest azimuth measurement data during the execution period of the geographic information display program. Accurate geographical information can be displayed based on the azimuth data.
  • the direction measurement data that is the basis for calculating the direction offset data is selectively accumulated so that accurate direction offset data is guaranteed. Regardless of the operation, the azimuth measurement data required to calculate accurate azimuth offset data can be accumulated efficiently.
  • the control unit 40 continues to selectively store the direction measurement data during the execution period of the geographic information display program, the user can unconsciously perform the operation necessary for storing the direction measurement data. Therefore, according to the first embodiment of the present invention, the orientation sensor module 318 can be easily handled.
  • the azimuth data is calculated using the force biaxial azimuth sensor module, which explains the azimuth processing method using the triaxial azimuth sensor module 318 and the triaxial attitude sensor module 340. It is also possible to calculate azimuth data using only the azimuth sensor module without using the attitude sensor module. Further, the azimuth data may be calculated with the offset of the attitude sensor module as a fixed value.
  • the telephone 1 may have a structure in which the display unit 3 and the operation unit 2 are formed in a single body.
  • the direction sensor module 318 may be built in the operation unit 2.
  • the control unit 40 starts accumulating azimuth measurement data necessary for calculating azimuth data in conjunction with an operation in which the display unit 3 moves away from the operation unit 2, that is, an operation in which the display unit 3 opens.
  • the geographic information display program when the geographic information display program is started, accumulation of direction measurement data is started, and direction offset data update and direction data update are performed in parallel.
  • the sensor 309 detects the start of the opening operation of the display unit 3, accumulation of direction measurement data is started.
  • FIGS. 17 and 18 are flowcharts showing the azimuth processing method according to the second embodiment of the present invention. Processes that are substantially the same as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.
  • step S400 When the opening / closing sensor 309 detects the start timing of the opening operation of the display unit 3, an interrupt is generated, and the control unit 40 starts the azimuth offset update process (step S400).
  • the control unit 40 calculates the azimuth offset data based on the accumulated azimuth measurement data and updates the azimuth offset data (Ste S220), the direction processing is terminated.
  • the control unit 40 does not perform the azimuth data calculation process (see S204 in the first embodiment) because it is immediately after the opening operation of the display unit 3 is started and before the geographic information display program is executed.
  • control unit 40 may perform the azimuth offset data update process in mode B following mode A, or the azimuth offset data update process only in mode B. ,.
  • azimuth offset data is updated in mode B
  • azimuth measurement data is stored in all array elements of array B
  • azimuth offset data is updated when azimuth offset data is updated based on those azimuth measurement data.
  • the update process may be terminated.
  • control unit 40 may accumulate all the azimuth measurement data output from the azimuth measurement unit 66 during a predetermined period, and calculate the azimuth offset data based on the accumulated azimuth measurement data. ,. That is, the control unit 40 may calculate the azimuth offset data using an algorithm that is completely different from the algorithm of the first embodiment.
  • control unit 40 may perform the azimuth offset data update process only in the mode A and mode B or mode B described in the first embodiment during execution of the geographic information display program, During the execution of the geographic information display program, it is not necessary to update the direction offset data.
  • the user After opening the display unit 3, the user is likely to operate the telephone 1 to put the audio speaker 300 on his ear, close the display unit 3 again, or move the telephone 1 greatly. During such an operation, the telephone 1 changes its posture in a complicated manner. Further, since the orientation sensor module 318 built in the display unit 3 changes its posture with the closing operation of the display unit 3, its posture changes more complicatedly.
  • the direction sensor module 318 may be built in the operation unit 2.
  • the control unit 40 starts accumulating azimuth measurement data in response to the start of the opening operation of the display unit 3, and therefore azimuth measurement widely distributed in the azimuth space. Data can be accumulated in a short time. Therefore, the control unit 40 can accumulate the azimuth measurement data necessary for accurately updating the azimuth offset data in a short time. In addition, since the control unit 40 starts accumulating the azimuth measurement data in response to the start of the opening operation of the display unit 3, the user can perform the operation necessary for accumulating the azimuth measurement data unconsciously. Therefore, according to the second embodiment of the present invention, the orientation sensor module 318 can be easily handled.
  • the control unit 40 starts accumulating azimuth measurement data necessary for calculating the azimuth data in conjunction with the operation in which the display unit 3 approaches the operation unit 2, that is, the operation in which the display unit 3 is closed. May be. That is, instead of the process of S400 of the second embodiment, a process of detecting the start of the closing operation of the display unit 3 may be performed.
  • 19, 20, and 21 are plan views showing the appearance of the telephone 1 according to the fourth embodiment of the present invention. Since the hardware configuration excluding the exterior is substantially the same as that of the first embodiment, the description is omitted.
  • the display unit 3 is connected to the operation unit 2 so as to be swingable about an axis substantially perpendicular to the screen 31.
  • the swing range of display unit 3 is 180 degrees.
  • the direction sensor module 318 built in the display unit 3 swings with respect to the operation unit 2 within a range of 180 degrees together with the display unit 3.
  • FIGS. 22 and 23 are flowcharts showing an azimuth processing method according to the fourth embodiment of the present invention. Processes substantially the same as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.
  • the control unit 40 starts the azimuth offset update process (step S500).
  • the opening operation of display unit 3 is a transition from the state where display unit 3 and operation unit 2 overlap to the state where they are separated from each other. The operation to do.
  • step S201 When the opening / closing sensor 309 detects that the display unit 3 has swung to the fully open state, the control unit 40 ends the azimuth offset updating process (step S201).
  • control unit 40 may accumulate the azimuth measurement data during the closing operation of the display unit 3, and calculate the azimuth offset data based on the accumulated azimuth measurement data.
  • the control unit 40 may accumulate all the azimuth measurement data output from the azimuth measurement unit 66 during the opening / closing operation of the display unit 3, and may calculate the azimuth offset data based on the accumulated azimuth measurement data. That is, the azimuth offset data may be calculated by an algorithm that is completely different from the algorithm of the first embodiment.
  • the azimuth offset updating process is performed during the opening / closing operation of the display unit 3, and the azimuth offset updating process is completed when the opening / closing operation of the display unit 3 is completed. Therefore, power consumption can be reduced.
  • the direction sensor module 318 rotates 180 degrees together with the display unit 3 during the opening / closing operation, according to the fourth embodiment of the present invention, the direction measurement data necessary for accurately updating the direction offset data is transmitted in a short time. Can be reliably accumulated.
  • the control unit 40 accumulates the direction measurement data during the period in which the display unit 3 changes its posture with respect to the operation unit 2. explained.
  • the direction measurement data of the direction sensor module 318 changes even if the geomagnetism is constant. Therefore, when the control unit 40 accumulates azimuth measurement data for updating the azimuth offset during the period in which the display unit 3 changes its attitude with respect to the operation unit 2, the permanent magnet and the azimuth sensor module provided in the telephone 1 are stored. It is desirable to correct the azimuth offset by taking into account the relative positional change with 318.
  • the locus of the position of the orientation measurement data during the operation of opening the display unit 3 shows the strength of magnetization due to the source of the leakage magnetic field and the attitude of the direction sensor module 318 when the display unit 3 is in the fully open state or the fully closed state. If the strength of geomagnetism is determined, it is uniquely identified.
  • the orientation and geomagnetic strength of the orientation sensor module 318 in the fully open state or the fully closed state can be specified if the orientation offset in the fully open state or the fully closed state can be specified.
  • the strength of magnetization due to the source of the leakage magnetic field during the operation of opening the display unit 3 can be specified by data sampling. Therefore, it is possible to correct the azimuth offset by taking into account the change in the relative positional relationship between the permanent magnet provided in the telephone 1 and the azimuth sensor module 318.
  • the control unit 40 may start accumulating azimuth measurement data necessary for updating the azimuth offset data triggered by reception. That is, instead of the process of S400 of the second embodiment, a process in which the control unit 40 detects a call or e-mail reception by the CDMA unit 206 may be performed.
  • the azimuth sensor module module 318 may be incorporated in the operation unit 2 when the azimuth offset data is updated in response to reception.
  • the operation unit 2 and the display unit 3 may be formed integrally.
  • the azimuth offset data updating process in the mode B described above may be performed, or the azimuth offset data updating process in the mode B alone may be performed.
  • bearing measurement data is stored in all array elements of array B, and the bearing offset data is updated when the bearing offset data is updated based on these bearing measurement data. The data update process may be terminated.
  • the control unit 40 may start accumulating azimuth measurement data necessary for updating the azimuth offset data in response to a user's transmission operation. That is, instead of the process of S400 of the second embodiment, a process in which the control unit 40 detects a call operation accepted by the main operation unit 224 or the sub operation unit 302 may be performed.
  • the azimuth sensor module 318 may be built in the operation unit 2 when the azimuth offset data is updated in response to a transmission operation.
  • the operation unit 2 and the display unit 3 may be formed integrally.
  • the azimuth offset data update process in mode B described above may be performed, or the azimuth offset data update process only in mode B may be performed.
  • azimuth offset data is updated in mode B, azimuth measurement data is stored in all array elements of array B, and azimuth offset data is updated when azimuth offset data is updated based on those azimuth measurement data.
  • the update process may be terminated.
  • FIG. 24 is a perspective view showing an appearance of the telephone 1 according to the eighth embodiment of the present invention. Since the hardware configuration except for the exterior is substantially the same as that of the first embodiment, the description thereof is omitted.
  • the light sources 400-426 scattered on the exterior of phone 1 are lit, the user's attention is directed to the lit light source. The user is highly likely to operate the object so that the object to be viewed is located in front of him. Therefore, if the light sources 400-426 are scattered on two or more surfaces of the exterior, the light source 400 426 to be lit is selected by the control unit 40 as time passes, and the position that the user wants to visually observe is moved on the exterior. The user is likely to change the appearance of the phone 1.
  • Accumulating azimuth offset data can be calculated by accumulating azimuth measurement data necessary for updating the azimuth offset data during operations that greatly change the attitude of the telephone 1.
  • the control unit 40 executes the azimuth offset update process while appropriately selecting the light source to be turned on in order to guide the user's operation, the control unit 40 calculates accurate azimuth offset data. It is possible to accumulate azimuth measurement data that is the basis for the operation.
  • an embodiment of a direction offset updating method using this principle will be described.
  • FIG. 25 is a flowchart for explaining the azimuth offset update processing according to the eighth embodiment of the present invention.
  • the control unit 40 as the light emission control means performs the guidance process shown in FIG. 25 and the update process of the azimuth offset data in the mode A and mode B described above in parallel, thereby accurately and reliably updating the azimuth offset data. can do.
  • the control unit 40 may start the guidance process shown in FIG. 25 at any time during the period in which the telephone 1 is in the standby state. For example, the control unit 40 may start the induction process immediately after the end of the charging period.
  • step S800 from step S800 the control unit 40 guides the user to rotate the telephone 1 360 degrees in the direction A shown in FIG. That is, first, the control unit 40 turns on the light source 406, the light source 408, the light source 410, and the light source 412 provided in a line on the first exterior surface in order for a predetermined period. Next, the light source 426, the light source 424, the light source 422, and the light source 420 provided in a row on the second exterior surface corresponding to the back surface of the first exterior surface are turned on in order for a predetermined period.
  • the lighting order of the light source shelf, the light source willow, the light source 410, the light source 412, the light source 426, the light source 424, the light source 422, and the light source 420, and the arrangement order on the exterior surface match.
  • control unit 40 determines whether or not to end the process of guiding the user to rotate telephone 1 in the direction A shown in FIG.
  • the end criterion may be that the number of repetitions from step S800 to step S814 is equal to or greater than a predetermined number, or the width of the distribution range of accumulated orientation measurement data positions may be the end criterion.
  • the width of the distribution range of the position of the oblique measurement data may be used as the end reference.
  • control unit 40 guides the user to rotate telephone 1 360 degrees in the direction B shown in FIG. That is, the control unit 40 first turns on the light sources 406, 408, 410, and 412 provided on the first exterior surface at the same time for a predetermined period, and then the direction perpendicular to the arrangement direction of the light sources 406, 408, 410, and 412.
  • the light sources 414, 416, 418 provided on the third exterior surface adjacent to the first exterior surface are simultaneously turned on for a predetermined period, and then provided on the second exterior surface corresponding to the back surface of the first exterior surface.
  • the light sources 420, 422, 424, and 426 are turned on at the same time for a predetermined period, and then installed on the fourth exterior surface corresponding to the back surface of the third exterior surface.
  • the light sources 400, 402, and 404 are turned on simultaneously for a predetermined period.
  • control unit 40 determines whether or not to end the process of guiding the user to rotate telephone 1 in the direction B shown in FIG.
  • the determination criterion may be that the number of repetitions from step S818 to step S824 is a predetermined number or more, or the width of the distribution range of the accumulated azimuth measurement data position may be the determination criterion.
  • the width of the distribution range of the position of the oblique measurement data may be used as the determination criterion.
  • the operation to be guided is appropriately selected.
  • Design item For example, as shown in FIG. 27, the telephone 1 may be guided to rotate 90 degrees around three axes orthogonal to each other, or the three axes orthogonal to each other as shown in FIG. You can also guide each phone 1 to rotate 180 degrees.
  • the control unit 40 controls the light emitting unit 308 in parallel with the azimuth offset data update process in mode A and mode B described above, the calibration operation procedure does not substantially affect the accuracy of the azimuth offset data.
  • the azimuth offset update process executed in parallel with the guidance process is not limited to the azimuth offset data update process in the above-described mode A and mode B.
  • the azimuth offset data is selected without selecting the azimuth measurement data to be stored. You can run the update process.
  • control unit 40 that does not make the user strongly aware of the calibration operation can accumulate the direction measurement data necessary for updating the direction offset data.
  • FIG. 29 is a perspective view showing the exterior of the telephone 1 according to the ninth embodiment of the present invention.
  • the exterior facing the operation unit 2 of the display unit 3 of the telephone 1 according to the ninth embodiment is the same as that shown in FIG.
  • Screen 36 is provided on display unit 3 and is located behind screen 31.
  • the screen 36 is composed of a liquid crystal display panel driven by a display unit 306 (see FIG. 4).
  • the control unit 40 as the target display control means controls the display unit 306 in parallel with the execution of the azimuth offset update process described above, and executes a guidance process for displaying the target T on the screen 31 and the screen 36.
  • the bearing offset update is executed in parallel with the guidance process.
  • the processing is not limited to the azimuth offset data update processing in the above-described mode A and mode B.
  • the control unit 40 may execute the azimuth offset data update processing without selecting the azimuth measurement data to be stored. .
  • FIG. 30 is a flowchart showing a guidance process executed in parallel with the execution of the azimuth offset update process.
  • 31 and 32 are schematic diagrams for explaining the movement trajectory of the target displayed on the screen 31 and the screen 36.
  • the control unit 40 may start the guidance process at any time during the period in which the telephone 1 is in a standby state. For example, the control unit 40 may start the induction process immediately after the end of the charging period.
  • the target T may be any geometrical shape such as a circle, a face illustration, or a character such as the current time, as long as it attracts the user's attention. .
  • the control unit 40 moves the display position of the target T with the passage of time during the execution of the guidance process. It is desirable to set the movement trajectory of the target T so that the position of the direction measurement data accumulated in the direction offset update process executed in parallel with the guidance process is distributed widely and uniformly.
  • an example of the movement trajectory of the target T will be specifically described.
  • the control unit 40 guides the user so that the telephone 1 rotates in the direction C in FIG. 31 (S900). Specifically, for example, the control unit 40 displays the target T on the left end of the screen 31 (based on the user viewing the screen 31), and moves the target T from the left end of the screen 31 toward the right end. When the target T reaches the right end of the screen 31, the control unit 40 gradually causes the target T to disappear from the screen 31 so that the target T appears to move out of the screen 31. Next, the control unit 40 displays the target T on the left end of the screen 36 located on the back side of the screen 31 (based on the user viewing the screen 36), and targets T from the left end of the screen 36 toward the right end. Move.
  • control unit 40 determines whether to end the process of guiding the user so that the telephone 1 rotates in the direction C in FIG. 31 (S902).
  • the control unit 40 may use the number of repetitions of step S900 as a determination criterion, or may use the width of the distribution range of the position measurement data accumulated in the azimuth offset update process as a determination criterion.
  • the control unit guides the user so that the telephone 1 rotates in the D direction in Fig. 32 (S904). Specifically, for example, the control unit 40 displays the target T on the screen 31. Is displayed on the lower end of the screen (the end closer to the control unit 2), and the target T is moved from the lower end of the screen 31 toward the upper end. When the target T reaches the upper end of the screen 31, the control unit 40 gradually dissipates the target T so that the target T appears to move out of the screen 31. Next, the control unit 40 displays the target T on the upper end of the screen 36 located on the back side of the screen 31 (the end far from the operation unit 2), and moves the target T from the upper end of the screen 36 toward the lower end. .
  • control unit 40 determines whether to end the process of guiding the user so that the telephone 1 rotates in the direction D in FIG. 32 (S906).
  • the control unit 40 may use the number of repetitions of step S904 as a criterion, and may use the width of the distribution range of the orientation measurement data accumulated in the orientation offset update process as a criterion.
  • control unit 40 that does not make the user strongly aware of the calibration operation can accumulate the azimuth measurement data necessary for updating the azimuth offset data.
  • the control unit 40 as the operation guidance control unit accumulates the azimuth measurement data necessary for updating the azimuth offset data, and displays the display unit 306 according to the latest azimuth measurement data. To display an image for guiding the user on the screen 31.
  • FIG. 33 and FIG. 34 are flowcharts showing the azimuth processing method according to the tenth embodiment of the present invention. Processes that are substantially the same as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.
  • the control unit 40 When the main operation unit 224 (see FIG. 4) accepts the user's direction offset update instruction, the control unit 40 starts the direction offset update program, and the control unit 40 starts initialization shown in FIG. 33 (S1000).
  • step S1002 the control unit 40 displays on the screen 31 a guidance screen that prompts the user to start the calibration operation.
  • the guidance screen may be any content that prompts the user to perform a calibration operation.
  • the guidance screen may be a combination of a message and an illustration as shown in FIG. 35, or a message alone. Good, only illustration But you can.
  • the control unit 40 updates the guidance screen according to the latest orientation measurement data (step S1004).
  • the updated guidance screen may have any content as long as it guides the direction in which the telephone 1 should be moved.
  • the control unit 40 displays on the screen 31 a character face whose inclination changes according to the posture of the telephone 1 and a character string that guides the operation content.
  • FIG. 36 shows a state in which telephone 1 is rotated 45 degrees from the state shown in FIG. 35 with the vertical line as the rotation axis.
  • the control unit 40 edits a digital photographic image of the subject M generated by the imaging unit 304 (see FIG.
  • the sound source unit 312 (see FIG. 4), which does not display the guidance screen on the screen 31, may be guided by an artificially synthesized voice generated from the notification speaker 310.
  • the guidance screen and artificially synthesized speech may be used in combination for guidance.
  • the sound source unit 312 can generate a predetermined music or sound effect from the notification speaker 310 during guidance of the calibration operation, so that the user can recognize that the user is currently guiding.
  • the control unit 40 When the azimuth offset data is updated in step S220 described above, the control unit 40 notifies the user of the success of the calibration operation.
  • the control unit 40 may display a message and an illustration on the screen 31 as shown in FIG. 38, or may generate artificially synthesized speech or music or sound effect reminiscent of success from the notification speaker 310.
  • FIG. 38 shows a state in which the telephone 1 is rotated 90 degrees from the state shown in FIG.
  • the offset data is unacceptable, and the control unit 40 uses the array A in step S226 described above.
  • the control unit 40 uses the array A in step S226 described above.
  • the control unit 40 notifies the user of the failure of the calibration operation.
  • the control unit 40 may display a message notifying the failure on the screen 31 or may display a message and an illustration. Or sound effects may be generated from the notification speaker 310.
  • the control unit 40 may display a menu on the screen 31 that allows the user to select whether to perform the calibration operation again (OK) or not (Cancel) as shown in FIG.
  • step S1012 Restart accumulation.
  • the guidance for guiding the calibration operation according to the latest azimuth measurement data is provided to the user. Therefore, the user can easily perform the calibration operation.
  • FIG. 1 is a flowchart showing an azimuth processing method according to the first embodiment of the present invention.
  • FIG. 2 is a perspective view showing the appearance of the telephone according to the first embodiment of the present invention.
  • FIG. 3 is a perspective view showing the appearance of the telephone according to the first embodiment of the present invention.
  • FIG. 4 is a block diagram showing a hardware configuration of the telephone according to the first embodiment of the present invention.
  • FIG. 5 is a schematic diagram according to the first embodiment of the present invention.
  • FIG. 6 is a schematic diagram according to the first embodiment of the present invention.
  • FIG. 7 is a schematic diagram according to the first embodiment of the present invention.
  • FIG. 8 is a schematic diagram according to the first embodiment of the present invention.
  • FIG. 9 is a schematic diagram according to the first embodiment of the present invention.
  • FIG. 10 is a schematic diagram useful for the first embodiment of the present invention.
  • FIG. 11 is a schematic diagram useful for the first embodiment of the present invention.
  • FIG. 12 is a schematic diagram useful for the first embodiment of the present invention.
  • FIG. 13 is a block diagram showing functional elements that are relevant to the first embodiment of the present invention.
  • FIG. 14 is a schematic diagram according to the first embodiment of the present invention.
  • FIG. 15 is a flowchart showing an azimuth processing method according to the first embodiment of the present invention.
  • FIG. 17 is a flowchart showing an azimuth processing method according to the second embodiment of the present invention.
  • FIG. 18 is a flowchart showing an azimuth processing method according to the second embodiment of the present invention.
  • FIG. 20 is a plan view showing the appearance of a telephone 1 according to a fourth embodiment of the present invention.
  • FIG. 22 is a flowchart showing an azimuth processing method according to the fourth embodiment of the present invention.
  • FIG. 23 is a flowchart showing an azimuth processing method according to the fourth embodiment of the present invention.
  • FIG. 26 is a schematic diagram according to the eighth embodiment of the present invention.
  • FIG. 27 is a schematic diagram according to the eighth embodiment of the present invention.
  • FIG. 28 is a schematic diagram according to the eighth embodiment of the present invention.
  • FIG. 29 is a perspective view showing an appearance of a telephone according to a ninth embodiment of the present invention.
  • FIG. 31 is a schematic diagram according to the ninth embodiment of the present invention.
  • FIG. 32 is a schematic diagram useful for the ninth embodiment of the present invention.
  • FIG. 33 is a flowchart showing an azimuth processing method according to the tenth embodiment of the present invention.
  • FIG. 34 is a flowchart showing an azimuth processing method according to the tenth embodiment of the present invention.
  • This is a schematic diagram of the tenth embodiment of the present invention.

Abstract

Dispositif de traitement d’azimut, procédé de traitement d’azimut, programme de traitement d’azimut, dispositif de mesure d’azimut et dispositif d’affichage d’informations géographiques ayant un décalage précis. Le dispositif de traitement d’azimut réalisant l’objet susmentionné délivre des données d’azimut selon des données de mesure qui sont délivrées successivement à partir d’un capteur d’azimut. Le dispositif de traitement d’azimut comprend : des moyens d’accumulation pour accumuler successivement les données de mesure pratiquement les plus récentes ; et des moyens de mise à jour de données de décalage pour mettre à jour les données de décalage du capteur d’azimut selon une pluralité de données de mesure accumulées dans les moyens d’accumulation.
PCT/JP2004/010479 2004-07-23 2004-07-23 Dispositif de traitement d’azimut, procede de traitement d’azimut, programme de traitement d’azimut, dispositif de mesure d’azimut et dispositif d’affichage d’informations geographiques WO2006011184A1 (fr)

Priority Applications (12)

Application Number Priority Date Filing Date Title
PCT/JP2004/010479 WO2006011184A1 (fr) 2004-07-23 2004-07-23 Dispositif de traitement d’azimut, procede de traitement d’azimut, programme de traitement d’azimut, dispositif de mesure d’azimut et dispositif d’affichage d’informations geographiques
PCT/JP2005/007702 WO2006011276A1 (fr) 2004-07-23 2005-04-22 Dispositif de traitement de l’orientation, procédé de traitement de l’orientation, programme de traitement de l’orientation, dispositif de mesure de l’orientation et affichage de l’information géographique
US11/149,707 US8065083B2 (en) 2004-07-23 2005-06-10 Azimuth processing device, azimuth processing method, azimuth processing program, direction finding device, tilt offset correcting method, azimuth measuring method, compass sensor unit, and portable electronic device
TW094119301A TWI277721B (en) 2004-07-23 2005-06-10 Azimuth processing device, azimuth processing method, azimuth processing program, direction finding device, tilt offset correcting method, azimuth measuring method, compass sensor unit, and portable electronic device
CN2009102055366A CN101738181B (zh) 2004-07-23 2005-07-22 倾斜偏移的校正方法、方位测量方法、方位传感器单元及便携式电子设备
CN2005800249193A CN101023323B (zh) 2004-07-23 2005-07-22 方位处理设备、方位处理方法、方位测量设备、倾斜偏移的校正方法、方位测量方法、方位传感器单元及便携式电子设备
PCT/JP2005/013469 WO2006009247A1 (fr) 2004-07-23 2005-07-22 Traitement de direction, procédé de traitement de direction, programme de traitement de direction, instrument de mesure de direction, procédé de correction du décalage d'inclinaison, procédé de mesure de direction, capteur de direction et dispositif électronique p
EP05766407A EP1793200A4 (fr) 2004-07-23 2005-07-22 Traitement de direction, procédé de traitement de direction, programme de traitement de direction, instrument de mesure de direction, procédé de correction du décalage d'inclinaison, procédé de mesure de direction, capteur de direction et dispositif électronique p
JP2006529294A JP4311447B2 (ja) 2004-07-23 2005-07-22 方位処理装置、方位処理方法、方位処理プログラム、方位測定装置、傾斜オフセットの補正方法、方位計測方法、方位センサユニット及び携帯電子機器
KR1020077001528A KR100876030B1 (ko) 2004-07-23 2005-07-22 방위 처리 장치, 방위 처리 방법, 방위 처리 프로그램을 기록한 컴퓨터 판독가능 기록매체, 방위 측정 장치, 경사 오프셋의 보정 방법, 방위 계측 방법, 방위 센서 유닛 및 휴대 전자 기기
US12/870,726 US8090535B2 (en) 2004-07-23 2010-08-27 Azimuth processing device, azimuth processing method, azimuth processing program, direction finding device, tilt offset correcting method, azimuth measuring method, compass sensor unit, and portable electronic device
US13/306,740 US20120072114A1 (en) 2004-07-23 2011-11-29 Azimuth processing device, azimuth processing method, azimuth processing program, direction finding device, tilt offset correcting method, azimuth measuring method, compass sensor unit, and portable electronic device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2004/010479 WO2006011184A1 (fr) 2004-07-23 2004-07-23 Dispositif de traitement d’azimut, procede de traitement d’azimut, programme de traitement d’azimut, dispositif de mesure d’azimut et dispositif d’affichage d’informations geographiques

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Publication number Priority date Publication date Assignee Title
JPS566169A (en) * 1979-06-27 1981-01-22 Japan Radio Co Ltd Method and device for magnetic-field vector detection
JPH08105745A (ja) * 1994-10-05 1996-04-23 Fujitsu Ltd 地磁気センサの方位誤差の補正のための方法と装置
JPH09133530A (ja) * 1995-11-10 1997-05-20 Jeco Co Ltd 車両用方位検出装置
JP2003156549A (ja) * 2001-11-22 2003-05-30 Yamaha Corp 電子装置
JP2004012416A (ja) * 2002-06-11 2004-01-15 Asahi Kasei Corp 方位角計測装置、キャリブレーション方法およびキャリブレーションプログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS566169A (en) * 1979-06-27 1981-01-22 Japan Radio Co Ltd Method and device for magnetic-field vector detection
JPH08105745A (ja) * 1994-10-05 1996-04-23 Fujitsu Ltd 地磁気センサの方位誤差の補正のための方法と装置
JPH09133530A (ja) * 1995-11-10 1997-05-20 Jeco Co Ltd 車両用方位検出装置
JP2003156549A (ja) * 2001-11-22 2003-05-30 Yamaha Corp 電子装置
JP2004012416A (ja) * 2002-06-11 2004-01-15 Asahi Kasei Corp 方位角計測装置、キャリブレーション方法およびキャリブレーションプログラム

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