WO2006011238A1 - 方位データ演算方法、方位センサユニットおよび携帯電子機器 - Google Patents
方位データ演算方法、方位センサユニットおよび携帯電子機器 Download PDFInfo
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- WO2006011238A1 WO2006011238A1 PCT/JP2004/011191 JP2004011191W WO2006011238A1 WO 2006011238 A1 WO2006011238 A1 WO 2006011238A1 JP 2004011191 W JP2004011191 W JP 2004011191W WO 2006011238 A1 WO2006011238 A1 WO 2006011238A1
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- 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
- the present invention relates to a technology for performing calibration (offset correction) for azimuth measurement using a geomagnetic sensor by using an azimuth measurement device, and in particular, data obtained from a triaxial geomagnetic sensor is specified.
- the present invention relates to an azimuth data calculation method, an azimuth sensor unit, and a portable electronic device that perform proper calibration and measure a correct azimuth even when limited to a plane. Background art
- a mobile terminal such as a mobile phone that includes a magnetic sensor that detects geomagnetism and performs azimuth measurement based on the geomagnetism detected by the magnetic sensor is known.
- the direction measured here is used, for example, to display a map, and recently, a GPS (Global Positioning System) receiver that detects the position is provided, and a map based on the current position is displayed.
- GPS Global Positioning System
- the magnetic sensor mounted on the mobile terminal is an electronic device inside the mobile terminal.
- a magnetic field generated by combining a magnetic field generated from a part and the like with the geomagnetism is detected. Therefore, a calibration is required to correct the error (offset) due to the magnetic field generated from the electronic components inside the mobile terminal. Therefore, with a mobile terminal equipped with a conventional 2-axis geomagnetic sensor, the user rotates the mobile terminal, for example, 180 degrees to perform calibration, and during this operation, the mobile terminal collects measurement data from the magnetic sensor, The offset was estimated based on the measured data.
- the present invention includes a step of measuring magnetic field data by inputting data from a geomagnetic sensor and a step of determining whether to store the measurement data based on a distance between the measurement data stored immediately before, The step of calculating the offset value based on the stored data and the plurality of measurement data used for calculating the offset value are compared for each component, and the difference between the maximum value and the minimum value for each component is a predetermined value.
- Proposing a azimuth data calculation method comprising: correcting data with the updated offset value and calculating direction data. That.
- the present invention is a magnetic field de Isseki to input data from the geomagnetic sensor And measuring whether or not the measurement data overflows or underflows. When it is determined that the measurement data overflows or underflows, the measurement data falls within a predetermined range.
- the distance between the step of correcting to fit and whether or not the measurement data should be stored is the distance from the measurement data stored immediately before.
- a step of determining based on the stored data, a step of calculating an offset value based on the stored data, and a plurality of measurement data used for calculating the offset value are compared for each component, and a maximum value and a minimum value for each component are compared.
- the step of determining that the calculated offset value is valid, and the offset value already stored in the step determined to be valid An azimuth data calculation method is proposed, which includes a step of updating, and a step of calculating azimuth data by correcting the measurement data with the updated offset value.
- the present invention also includes a step of measuring magnetic field data by inputting data from a geomagnetic sensor, and a step of determining whether or not to store the measurement data based on a distance from the measurement data stored immediately before.
- the step of calculating the offset value based on the stored data and the plurality of measurement data used for calculating the offset value are compared for each component, and the difference between the maximum value and the minimum value for each component is a predetermined value.
- the present invention also provides a magnetic field data measuring means for inputting magnetic data from a geomagnetic sensor to measure magnetic field data, a measurement data storing means for storing the magnetic field data, and the magnetic field data for the measurement data.
- Measurement data storage determining means for determining whether to store in the storage means based on the distance from the magnetic field data stored immediately before, and an offset value based on the magnetic field data stored in the measurement data storage means
- An offset calculation means for calculating the offset value, and a plurality of measurement data used for calculating the offset value are compared for each component, and when the maximum value and the minimum value for each component are equal to or greater than a predetermined value, Offset validity determination means for determining that the calculated offset value is valid, and already stored
- An offset storage unit that updates and stores the offset value that has been validated by the offset validity determination means, an offset value that is stored in the offset storage unit, and an offset value that is already stored
- An offset setting means for adding the offset value, an arithmetic unit for removing the offset
- the present invention further proposes an azimuth sensor unit comprising an integrator for integrating magnetic field data output from the arithmetic unit.
- the present invention further includes a detection unit that monitors the magnetic field data and detects an overflow or underflow, and when the detection unit detects an overflow or an underflow during the night.
- a detection unit that monitors the magnetic field data and detects an overflow or underflow, and when the detection unit detects an overflow or an underflow during the night.
- an azimuth sensor unit is proposed in which a correction value that eliminates data overflow or underflow is input to the arithmetic unit.
- the present invention further compares an offset value validated by the offset validity determination means with a predetermined value, and calculates the offset value when the offset value is larger than a predetermined value.
- An azimuth sensor unit has been proposed, characterized in that it includes offset magnitude discrimination means for outputting the offset value to the offset storage means when the offset value is smaller than a predetermined value.
- the present invention further includes a temperature sensor for detecting temperature, a temperature correction value calculating means for calculating a correction value from the detected temperature, and outputting the calculated correction value to the azimuth measuring means;
- An azimuth sensor unit is provided that includes at least one of a tilt sensor that detects the tilt and a correction value that is calculated from the detected tilt and that outputs the calculated correction value to the azimuth measuring means. ing.
- the present invention further includes a magnetic field data measuring means for measuring magnetic field data by inputting data from a geomagnetic sensor, a measurement data storing means for storing the magnetic field data, and the magnetic field data in the measurement data storing means.
- Measurement data storage discriminating means for judging whether or not to store based on the distance from the magnetic field data stored immediately before,
- the offset calculation means for calculating the offset value based on the magnetic field data stored in the fixed data storage means and the plurality of measurement data used for calculating the offset value are compared for each component, and each component is compared.
- Offset validity judging means for judging that the calculated offset value is valid when the maximum value and the minimum value of the offset are equal to or greater than a predetermined value, and the offset validity value already stored in the offset validity value.
- An offset storage unit that updates and stores the offset value that has been validated by the determination unit; an offset setting unit that adds the offset value stored in the offset storage unit and the offset value already stored; and the offset A calculator for removing the offset value set by the setting means from the magnetic field data; and an offset stored in the offset storage unit. It proposes a portable electronic device including an orientation sensor unit having an orientation measuring means for calculating orientation data by correcting the magnetic field data with a value.
- FIG. 1 is a configuration diagram of a portable electronic device (portable terminal) according to the present invention.
- FIG. 2 is a configuration diagram of the orientation sensor unit according to the first embodiment.
- FIG. 3 is a processing flow related to orientation output in the first embodiment.
- FIG. 4 is a configuration diagram relating to a modification of the azimuth sensor unit according to the first embodiment.
- FIG. 5 is a configuration diagram of an orientation sensor unit according to the second embodiment.
- FIG. 6 is a processing flow related to azimuth output in the second embodiment.
- FIG. 7 is a configuration diagram relating to a modified example of the orientation sensor unit according to the second embodiment.
- FIG. 8 is a configuration diagram of an orientation sensor unit according to the third embodiment.
- FIG. 9 is a processing flow related to orientation output in the third embodiment.
- FIG. 10 is a configuration diagram of an orientation sensor chip according to the fourth embodiment.
- FIG. 11 is a configuration diagram of an orientation sensor unit according to the fourth embodiment.
- FIG. 12 is a configuration diagram relating to a modified example of the orientation sensor unit according to the fourth embodiment.
- FIG. 13 A is a diagram showing the coordinate system (definition) of a mobile terminal.
- FIG. 13B is a diagram showing a ground coordinate system.
- FIG. 1 is a configuration diagram of an embodiment of a portable electronic device according to the present invention.
- a portable communication terminal (hereinafter referred to as a mobile phone) using a CDMA (Code Division Multiple Access) communication system.
- the electrical configuration of the terminal is shown as a block diagram.
- the mobile terminal 1 of the present embodiment includes antennas 101 and 106, an RF unit 102, a modem unit 103, a CDMA unit 104, a voice processing unit 105, and a GPS receiving unit 107.
- the unit 1 17, the evening panel 1 18, the sub-operation unit 1 15, and the direction sensor unit 200 are configured.
- the antenna 101 transmits and receives radio waves to and from a radio base station (not shown).
- the RF unit 102 performs processing related to signal transmission / reception.
- This RF unit 102 includes a local oscillator and the like, and the reception signal output from the antenna 101 at the time of reception is mixed with a local transmission signal having a predetermined frequency to receive the reception signal at an intermediate frequency (IF). Convert to IF signal and output to modem 103.
- the RF unit 102 converts the transmission IF signal into a transmission signal of the transmission frequency by mixing the local transmission signal of a predetermined frequency with the transmission IF signal of the intermediate frequency at the time of transmission, and outputs it to the antenna 101.
- the modem unit 103 performs demodulation processing on the received signal and modulation processing on the transmitted signal.
- This modulation / demodulation unit 103 includes a local oscillator and the like, converts the received IF signal output from the RF unit 102 into a baseband signal having a predetermined frequency, converts the baseband signal into a digital signal, and outputs the digital signal to the CDMA unit 104.
- the modem 103 is a digital base for transmission output from the CDMA unit 104.
- the baseband signal is converted to an analog signal and is also converted to a transmission IF signal having a predetermined frequency and output to the RF unit 102.
- the CDMA unit 104 performs encoding processing of a transmitted signal and decoding processing of a received signal.
- the CDMA unit 104 decodes the baseband signal output from the modem unit 103.
- CDMA section 104 encodes a signal for transmission and outputs the encoded baseband signal to modulation / demodulation section 103.
- the voice processing unit 105 performs processing related to voice during a call.
- the voice processing unit 105 converts an analog voice signal output from the microphone (MIC) during a call into a digital signal and outputs the signal to the CDMA unit 104 as a transmission signal.
- the voice processing unit 105 generates an analog drive signal for driving the speaker (SP) based on the signal indicating the voice data decoded by the CDMA unit 104 during a call, and Output to SP).
- the microphone (MIC) generates an audio signal based on the audio input by the user and outputs it to the audio processing unit 105.
- the speaker (SP) emits the other party's voice based on the signal output from the voice processing unit 105.
- the GPS antenna 106 receives a radio wave transmitted from a GPS satellite (not shown) and outputs a reception signal based on this radio wave to the GPS receiver 107.
- the receiving unit 107 demodulates the received signal, and acquires accurate time information of the GPS satellites and information such as radio wave propagation time based on the received signal.
- the GPS receiver 107 calculates the distance to three or more GPS satellites based on the acquired information, and calculates the position (latitude, longitude, altitude, etc.) in the three-dimensional space based on the principle of triangulation.
- the main control unit 108 is composed of a CPU (Central Processing Unit) and the like, and controls each part inside the mobile terminal 1.
- the main control unit 108 is connected to the RF unit 102, the modem unit 103, the CDMA unit 104, the audio processing unit 105, the 0-5 reception unit 107, the following azimuth sensor unit 200, the ROM 109, and the RAM 110.
- the ROM 109 stores various programs executed by the main control unit 108, initial characteristic values of the temperature sensor and the inclination sensor measured at the time of shipping inspection, and the like.
- the RAMI 10 temporarily stores data processed by the main control unit 108.
- the notification means 1 1 1 includes, for example, a speaker, a vibrator, or a light emitting diode, and notifies the user of an incoming call or mail reception by sound, vibration or light.
- the clock section 1 1 2 has a timekeeping function and generates timekeeping information such as year, month, day, day of the week, and time.
- the main operation unit 1 1 3 includes input keys for character input operated by the user, conversion keys for conversion of kanji and numbers, cursor keys for cursor operation, power on / off key, call key, and redial key Etc., and outputs a signal indicating the operation result by the user to the main control unit 108.
- the open / close switch (SW) 1 1 4 is a switch for detecting the opening start and the closing end in the case of a foldable portable terminal.
- the azimuth sensor unit 200 is a magnetic sensor (1) to (3) that detects the magnetism (magnetic field) in each of the X axis, Y axis, and Z axis orthogonal to each other, and a temperature sensor that detects the temperature.
- a physical quantity sensor for detecting the inclination of the mobile terminal 1 and a block for processing the detection result by each sensor are provided. Details will be described later with reference to FIG.
- the electronic imaging unit 1 1 6 includes an optical lens and an imaging device such as a CCD (Charge Coupled Device), and the image of the subject imaged on the imaging surface of the imaging device by the optical lens is converted into an analog signal by the imaging device.
- the analog signal is converted into a digital signal and output to the main control unit 108.
- the display unit 1 17 has a liquid crystal display or the like, and displays images, characters, and the like based on display signals output from the main control unit 10 8.
- the evening panel 1 1 8 is incorporated in the surface of the liquid crystal display included in the display unit 1 1 7, and outputs a signal corresponding to the user's operation content to the main control unit 1 8.
- the sub operation unit 1 1 5 includes a push switch used for display switching.
- the azimuth sensor unit includes a measurement data storage determination unit 2 0 1, a measurement data storage unit 2 0 2, an offset calculation unit 2 0 3, and an offset validity determination unit.
- 20 offset storage unit 20 5, offset setting means 2 0 6, direction measuring means 2 0 7, and direction sensor chip 3 0 0, direction sensor chip 3 0 0
- the measurement data storage discriminating means 2 0 1 is related to data storage such as determination as to whether or not the measurement data indicated by the digital signal corresponding to the output of the magnetic sensor should be stored in the measurement data storage means 2 0 2 at the time of calibration. Process.
- the measurement data storage means 20 02 receives the data from the measurement data storage discrimination means 20 01 and stores the data according to a predetermined storage method (the contents will be described later).
- the offset calculation means 20 3 calculates the offset based on the measurement data acquired at the time of calibration (details will be described later). Further, the offset validity determination unit 204 determines the validity of the offset calculated by the offset calculation means 203 (details will be described later).
- the offset storage unit 205 updates the stored offset value to the offset value determined to be valid by the offset validity determination means 20 04 and stores it.
- the offset setting means 20 06 adds the offset value output to the offset storage unit 30 6 and the offset value output from the offset storage unit 205, and uses this value as the offset storage unit 30. Output to 6.
- the azimuth measuring means 2 07 measures the azimuth from the magnetic field data input from the A ZD converter 3 07 described later.
- the offset of a magnetic sensor is considered to be an offset inherent to the magnetic sensor, an offset due to the influence of peripheral circuits, and an offset caused by disturbance of the magnetic field due to the influence of other components.
- the offset due to the influence of the magnetic sensor's inherent offset and peripheral circuits is a value with little fluctuation, so these values are measured in advance and stored in the offset setting means 206. You may leave it.
- the magnetic sensor unit 301 includes magnetic sensors (1) to (3) and sensor initialization means (1) to (3) (not shown) for initializing each magnetic sensor after the power is turned on. Yes.
- the sensor initialization means (1) to (3) are magnetic sensors (1) to (3) because the magnetization directions of the magnetic bodies of the magnetic sensors (1) to (3) are out of order when a strong magnetic field is applied. (3) is provided for resetting the initial state.
- the switching means 30 2 is connected to each magnetic sensor (1) to (3) of the magnetic sensor unit 30 1
- the magnetic field data is switched and sequentially input to the amplifier 3 0 3.
- the adder 30 4 subtracts the signal obtained by converting the output from the amplifier 30 3 and the offset value corresponding to each of the magnetic sensors (1) to (3) into analog by the D ZA converter 3 05.
- the AZD converter 3 07 converts the output of the adder 3 04 into a digital signal and outputs the digital signal to the direction measuring means 2 07.
- a measurement trigger is applied to the azimuth sensor unit 200 (step 1001).
- a method of triggering at regular intervals can be considered.
- there is a method of triggering in the evening when there is a request for azimuth measurement from the application side for example, when the azimuth direction is estimated to be changed by monitoring the output of another device of the mobile terminal. (For example, the timing at which the image data input to the electronic imaging unit 1 16 is slid, etc.)
- the method that triggers when requested by the application has the advantage of reducing unnecessary power consumption because the number of times of measurement is the minimum, and in the method of triggering from the situation of another device, for example, a mobile terminal
- it is characterized by the combined advantages of the above two methods. Therefore, what method should be selected may be appropriately determined according to the feature of the device.
- the magnetic field data is measured using the data input from the magnetic sensor unit 30 1, and the data data is converted into digital data, and the measurement data storage discrimination means 2 0 1 and direction measuring means 2 0 7 (Step 1 0 2).
- the measurement data storage judging means 2 0 1 performs processing relating to the determination as to whether or not this data should be stored in the measurement data storage means 2 0 2 (step 1003).
- the judgment method refer to the data stored in the measurement data storage means 2 0 2, Based on the determination method described later, it is determined whether or not the input data should be stored in the measurement data storage means 2 0 2, and if it is determined that it should be stored, the data is stored in the measurement data storage means 2 0 2 To store.
- the measurement data storage means 2 0 2 can be stored only when there is no data stored, or the method of determining whether data should be stored when data already exists is as follows. There is a method of storing only when the distance is more than a certain value. This method has the advantage that the data can be prevented from concentrating on a part of the bearing sphere.
- a method of storing all data a method of storing only when there is no data stored in the measurement data storage means 202, or, if data already exists, from all stored data
- a method of storing only when the distance is more than a certain value is conceivable.
- the former method has the advantage of collecting a large amount of data in the shortest time due to the large amount of data, increasing the frequency of calibration, and correcting the offset within a short period of time even if offset fluctuations occur. is there.
- the latter method has the highest uniformity of data, but has a problem that it takes a long time to accumulate data. Therefore, it is only necessary to determine the method to be selected based on the above contents as appropriate based on the features of the equipment.
- the constant value is preferably about 3.98 [AZM].
- the measurement data storage means 2 0 2 inputs the data from the measurement data storage discrimination means 2 0 1, stores the data according to the storage method described later (step 1 0 4), and stores the data in the offset calculation means 2 0 3 Whether or not to output the offset is triggered to an offset calculation trigger means (not shown).
- the offset calculation trigger means replies whether data should be output to the offset calculation means 203 based on a trigger method described later.
- the measurement data storage means 2 0 2 outputs the stored data to the offset calculation means 2 0 3 when instructed to output the data to the offset calculation means 2 0 3.
- the data is stored in the order of acquisition, and when the offset calculation trigger means is triggered and the offset calculation process ends,
- One method is to erase all the data and store the data from the beginning again. This method has the advantage that the processing load is light.
- the former method has the advantage that the frequency of calibration can be increased easily and the offset can be corrected in the shortest time.
- the latter method allows the offset to be corrected in a short time.
- the calculation load of the application increases.
- the calculation frequency of the offset is lower and the calculation processing load can be reduced.
- the data may be accumulated in the order of the values, and when a certain amount of data has been accumulated, it may be replaced with a new orientation that is closest to the evening.
- the magnitude of the offset fluctuation is small, there is an advantage that the data density can be kept uniform as compared with the former method.
- the offset fluctuation is larger than the radius of the azimuth sphere, it is forever. There is a risk that unnecessary data may remain. Therefore, what method should be selected can be determined appropriately according to the features of the equipment.
- the trigger of offset calculation there is a method of triggering when the data becomes a certain amount.
- the number of data since the number of data is constant, the accuracy based on the number of data is stable, and there is an advantage that the validity can be easily judged.
- the former method has the advantage that calibration operation can be performed in a short time, and offset fluctuations can be corrected in a shorter time.
- the latter method does not enter the calibration operation indefinitely.
- the advantage of avoiding is there. Therefore, based on the above, what method should be selected can be determined as appropriate based on the device's future.
- step 105 when the measurement data is supplied from the measurement data storage means 202 to the offset calculation means 203, an offset is calculated based on these measurement data (step 105).
- the least square error ⁇ is defined as follows.
- Ma x (x,) represents the maximum value in the measurement data x ⁇ , ⁇ ⁇ , and M in ( ⁇ is the minimum value in the measurement data ⁇ 1; ⁇ , ⁇ ⁇
- ⁇ is the standard deviation It is determined whether the following criteria are satisfied with respect to the above values, and if the estimated criteria are satisfied, the estimated offset is valid. judge.
- F is preferably about 0.1
- G is preferably about 1.
- the offset value stored in the storage means in the azimuth measuring means 207 (not shown) is updated (step 107).
- the azimuth measuring means 207 calculates the azimuth by one of the following methods after removing the offset from the input measurement data (step 108).
- the azimuth is calculated based on the following formula.
- the azimuth is calculated based on the following formula.
- Hy ' Hycos (a) -H z sin (a)
- Abs (Hx)> Abs (Hy ') AND Hx ⁇ 0 Then direction (deg) 270 + arctan (Hx / Hy') * 180 / ⁇
- Hx, Hy, and Hz are the outputs of the magnetic sensor, the azimuth indicates the azimuth of the Y axis, and magnetic north is 0 degree.
- the method 1) has the advantage that it is relatively easy for the user to level the mobile terminal and that the orientation accuracy is easily obtained.
- the method 2) since the user normally has an angle with a mobile terminal, the user can get a correct orientation, but on the other hand, it may be difficult to align the mobile terminal with a fixed angle. For this reason, there is a problem that accuracy cannot be expected.
- the orientation data obtained in this way is output and displayed on, for example, the display unit 1 17 of the portable terminal (step 10 9).
- FIG. 4 shows a modification of the present embodiment, in which an integrator 3 09 is provided at the output of the adder 3 04.
- this integrator 309 it is possible to average the minute disturbance of the measurement data in the calculation of the analog value, so that the measurement accuracy can be improved.
- This configuration can also be applied to all embodiments described later.
- the direction sensor unit according to the second embodiment is provided with an overflow underflow detector 3 08 that monitors the output of the amplifier 30 3 as compared to the first embodiment. .
- the overflow underflow detection unit 3 0 8 detects whether the output of the amplifier 3 0 3 is within the input range of the next stage AZD converter 3 0 7 and if it overflows or underflows
- the correction value is input to the offset setting means 2 06 so that the output of the amplifier 30 3 falls within the input range of the AD converter 3 07 at the next stage.
- the offset setting means 206 is used when the value input from the overflow underflow detection unit 30 8, the value already stored, and the value stored in the offset storage unit 205.
- the offset value to be stored in the offset storage unit 3 06 is set by adding the values.
- a measurement trimmer is measured with respect to the azimuth sensor unit 200.
- Step 2 0 1 When a measurement trigger is applied, first, magnetic data is measured from the data input from the magnetic sensor unit 3 0 1. Then, the measured magnetic data is sent to the amplifier 30 3 (step 2 0 2).
- the overflow underflow detection unit 3 0 8 detects whether or not the output of the amplifier 3 0 3 is within the input range of the next stage AZD converter 3 0 7. If there is no underflow, go to the next step. If it is overflowing or underflowing, make sure that the output of the amplifier 3 0 3 falls within the input range of the A / D converter 3 0 7 in the next stage.
- the process proceeds to the next step (step 2 0 3). Then, the magnetic field is measured again from the data input from the magnetic sensor, and the data is converted into digital data and output to the measured data storage discriminating means 2 0 1 and the azimuth measuring means 2 0 7 (Step 2 0). Five ) .
- the measurement data storage discriminating means 2 0 1 performs processing relating to the judgment as to whether or not this data should be stored in the measurement data storage means 2 0 2 (step 2 06).
- the measurement data is stored in the measurement data storage means 20 2 (step 2 07), and when it is determined that it should not be stored, the process returns to step 2 0 1.
- the measurement data storage means 2 0 2 inputs the data from the measurement data overnight storage judgment means 2 0 1, stores the data according to the storage method described later (step 2 0 7), and the offset calculation means 2 Whether or not to output data to 0 3 is consulted with an offset calculation trigger means (not shown).
- the offset calculation trigger means answers whether or not the data should be output to the offset calculation means 2 0 3 based on the trigger method described above.
- the measurement data storage means 20 02 outputs the stored data to the offset calculation means 20 03.
- the offset calculation means 20 3 calculates the offset according to the aforementioned offset calculation algorithm (step 20 8).
- the validity is discriminated by the offset validity discriminating means 2 0 4 (step 2 0 9).
- the offset value stored in the storage means in the azimuth measuring means 20 07 (not shown) is updated (step 2 10).
- the azimuth measuring means 2 07 calculates the azimuth after removing the offset from the input measurement data (step 2 1 1), and the obtained azimuth data is, for example, the display unit 1 1 of the portable terminal. It is output to 7 etc. and displayed (Step 2 1 2).
- FIG. 7 shows a modified example of the present embodiment, in which the offset storage unit 2 0 5 is deleted, the correction for overflow or underflow is executed by the offset setting means 2 0 6, and the AZD converter 3 0 7 The offset of the measurement data that falls within the input range is corrected with the offset value obtained by the offset calculation means 203.
- the circuit load is soft because the correction for overflow or underflow is mainly performed by hardware processing, and the correction after removal of overflow or underflow is performed by software processing. Software processing load can be reduced.
- the overflow underflow detection unit detects the overflow underflow and corrects it, thereby reducing the time required for the A ZD conversion, and accurate orientation in a short time. Can be calculated. Also, depending on the circuit configuration, the circuit load and software processing load can be reduced.
- the azimuth sensor unit according to the third embodiment is different from the first embodiment in that the offset setting means 2 06 and the offset storage means 2 0 5 are deleted and the offset magnitude is small. Discriminating means 2 0 8 is provided.
- the offset magnitude discriminating means 2 08 determines whether the offset value after the validity of the offset is discriminated is larger than a predetermined value, and the offset value is larger than the predetermined value. When the offset value is larger, the value is output to the offset storage unit 30 6, and when the offset value is smaller than a predetermined value, the value is output to the direction measuring means 2 07.
- a measurement trigger is applied to the azimuth sensor unit 2 0 0 (step 3 0 1 )
- the magnetic field data is measured using the data input from the magnetic sensor unit 30 1, and the data is converted into digital data to the measured data storage discriminating means 2 0 1 and direction measuring means 2 0 7 Output (Step 3 0 2).
- the measurement data storage discriminating means 2 0 1 performs processing relating to the judgment as to whether or not this data should be stored in the measurement data storage means 2 0 2 (step 3 0 3).
- the measurement data is stored in the measurement data storage means 20 2 (step 3 04), and when it is determined that it should not be stored, the process returns to step 3 0 1.
- the measurement data storage means 2 0 2 inputs the data from the measurement data storage discrimination means 2 0 1, stores the data according to the storage method described later (step 3 0 4), and stores the data in the offset calculation means 2 0 3. Whether or not to output data is consulted with an offset calculation trigger means (not shown).
- the offset calculation trigger means answers whether or not data should be output to the offset calculation means 2 0 3 based on the trigger method described above.
- the measurement data storage means 20 02 outputs the stored data to the offset calculation means 20 03.
- the offset calculation means 20 3 calculates the offset according to the above-described offset calculation algorithm (step 3 0 5).
- the validity is discriminated by the offset validity discriminating means 2 0 4 (step 3 0 6).
- step 3 07 it is determined whether or not the offset value determined to be effective is larger than a predetermined value (step 3 07), and if the offset value is larger than a predetermined value, The value is output to the offset storage unit 30 6 (step 3 0 8), and when the offset value is smaller than a predetermined value, the value is output to the direction measuring means 2 07. Then, the offset value stored in the storage means in the azimuth measuring means 20 07 (not shown) is updated (step 3 09). On the other hand, the azimuth measuring means 2 07 removes the offset from the input measurement data after step 3 02 and calculates the azimuth based on this (step 3 1 0). The azimuth data obtained in this way is output and displayed on, for example, the display unit 117 of the portable terminal (step 3 11).
- the time required for the A / D conversion can be shortened by detecting the magnitude of the offset after the offset magnitude discriminating means and the effectiveness is discriminated, and correcting this.
- an accurate bearing can be calculated in a short time.
- the circuit load and software processing load may be reduced.
- FIG. 10 Next, a fourth embodiment will be described with reference to FIGS. 10 to 12.
- the direction sensor chip 30 is a temperature sensor connected to the first embodiment by the switching means 3 12 together with the output of the amplifier 30 3. 3 1 0 and tilt sensor 3 1 1.
- the azimuth sensor unit 2 0 0 is a temperature correction value calculation means 2 0 9 output from the magnetic sensor section via the AZD converter 3 0 7 of the azimuth sensor chip 3 0 Compensation value calculation means 2 1 0 is provided.
- the temperature sensor 3 1 0 monitors the temperature of the azimuth sensor chip 3 0 0 and sends the data to the temperature correction value calculation means 2 of the azimuth sensor unit 2 0 0 via the AZD converter 3 0 7 of the azimuth sensor chip 3 0 0. 0 Output to 9.
- the temperature correction value calculation means 2 09 stores a function of temperature and correction value in advance, and outputs a correction value corresponding to the input temperature data to the direction measurement means 2 07.
- the temperature at the time of calibration is TO
- the estimated offset is OF
- the temperature coefficient A (this is measured at the time of shipping inspection and recorded in ROM 10 109)
- the temperature at the time of measurement Is T and the measured value of the magnetic sensor is SO
- the inclination sensor 3 1 1 monitors the inclination of the direction sensor chip 300 and calculates the inclination correction value of the direction sensor unit 2 0 0 via the AZD converter 3 0 7 of the direction sensor chip 3 0 0. Means 2 1 Output to 0. Inclination correction value calculation means 2 1 0
- 3 and the twist angle a are calculated by the method as shown below and output to the azimuth measuring means 2 07.
- the coordinate system of the mobile terminal 1 is defined as shown in Fig. 13 (a). That is, what is the azimuth angle of the antenna 1 0 1 of the mobile terminal 1?, The elevation angle i3, and the twist angle (rotation angle around the antenna axis)? The sign is positive in the direction of the arrow shown in the figure.
- the unit vector in the antenna direction is Vy
- the terminal unit is 1 (the side on which the antenna 1 0 1 and the orientation sensor chip 3 0 0 are arranged).
- the unit vector in the direction perpendicular to the surface formed by is V z
- the unit vector orthogonal to both Vy and V z is Vx.
- the ground direction is represented by X, Y, and ⁇ , and the north direction is the ⁇ axis, as shown in Figure 13 (b).
- G 2 (0, 0, G z) be the gravity in the ground coordinate system.
- g (g x, g y, g z) be the gravity in the mobile coordinate system.
- Gravity in this portable coordinate system can be detected by an inclination sensor.
- gravity in the ground coordinate system is known.
- BC can be expressed as cos y 0 -sin 7
- the azimuth measuring means 207 inputs the elevation angle and the twist angle a, the azimuth angle and the geomagnetic elevation angle 0 are obtained by the following algorithm.
- FIG. 12 is a modified example of the present embodiment, and has a configuration in which correction data determination means 2 1 1 is provided for the outputs of temperature correction value calculation means 2 09 and inclination correction value calculation means 2 10. Yes.
- the correction data determination means 2 1 1 has storage means (not shown), and outputs the output data from the temperature correction value calculation means 2 0 9 and the inclination correction value calculation means 2 1 0 and the data stored immediately before. In comparison, when there is a change beyond a certain level, the data is output to the direction measuring means 2 07.
- the correction data determination unit 2 1 1 determines the data from the temperature correction value calculation unit 2 09 and the inclination correction value calculation unit 2 1 0, and Since it is determined whether or not the output to the azimuth measuring means 20 07 is possible, the processing load on the azimuth measuring means 20 07 can be reduced.
Description
Claims
Priority Applications (9)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2004/011191 WO2006011238A1 (ja) | 2004-07-29 | 2004-07-29 | 方位データ演算方法、方位センサユニットおよび携帯電子機器 |
TW094119317A TWI265301B (en) | 2004-07-29 | 2005-06-10 | Azimuth data computing method, compass sensor unit, and portable electronic device |
US11/149,732 US7324906B2 (en) | 2004-07-29 | 2005-06-10 | Compass sensor unit and portable electronic device |
EP05767132A EP1772704A4 (en) | 2004-07-29 | 2005-07-29 | AZIMUT DATA CALCULATION METHOD, AZIMUT SENSOR UNIT, AND PORTABLE ELECTRONIC APPARATUS |
JP2006527875A JP4539653B2 (ja) | 2004-07-29 | 2005-07-29 | 方位データ演算方法、方位センサユニットおよび携帯電子機器 |
PCT/JP2005/013953 WO2006011602A1 (ja) | 2004-07-29 | 2005-07-29 | 方位データ演算方法、方位センサユニットおよび携帯電子機器 |
CN2005800256981A CN101023324B (zh) | 2004-07-29 | 2005-07-29 | 方位数据计算方法、方位传感器单元及便携式电子装置 |
US11/948,921 US7474977B2 (en) | 2004-07-29 | 2007-11-30 | Compass sensor unit and portable electronic device |
US12/206,521 US7606676B2 (en) | 2004-07-29 | 2008-09-08 | Compass sensor unit and portable electronic device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2004/011191 WO2006011238A1 (ja) | 2004-07-29 | 2004-07-29 | 方位データ演算方法、方位センサユニットおよび携帯電子機器 |
Publications (1)
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WO2006011238A1 true WO2006011238A1 (ja) | 2006-02-02 |
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Family Applications (2)
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PCT/JP2004/011191 WO2006011238A1 (ja) | 2004-07-29 | 2004-07-29 | 方位データ演算方法、方位センサユニットおよび携帯電子機器 |
PCT/JP2005/013953 WO2006011602A1 (ja) | 2004-07-29 | 2005-07-29 | 方位データ演算方法、方位センサユニットおよび携帯電子機器 |
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PCT/JP2005/013953 WO2006011602A1 (ja) | 2004-07-29 | 2005-07-29 | 方位データ演算方法、方位センサユニットおよび携帯電子機器 |
Country Status (6)
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US (3) | US7324906B2 (ja) |
EP (1) | EP1772704A4 (ja) |
JP (1) | JP4539653B2 (ja) |
CN (1) | CN101023324B (ja) |
TW (1) | TWI265301B (ja) |
WO (2) | WO2006011238A1 (ja) |
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- 2005-07-29 JP JP2006527875A patent/JP4539653B2/ja not_active Expired - Fee Related
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- 2005-07-29 EP EP05767132A patent/EP1772704A4/en not_active Withdrawn
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2007
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Also Published As
Publication number | Publication date |
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JP4539653B2 (ja) | 2010-09-08 |
US20060021238A1 (en) | 2006-02-02 |
JPWO2006011602A1 (ja) | 2008-05-01 |
US7606676B2 (en) | 2009-10-20 |
EP1772704A1 (en) | 2007-04-11 |
TW200610973A (en) | 2006-04-01 |
US7474977B2 (en) | 2009-01-06 |
CN101023324A (zh) | 2007-08-22 |
US20080091372A1 (en) | 2008-04-17 |
TWI265301B (en) | 2006-11-01 |
EP1772704A4 (en) | 2012-03-14 |
US7324906B2 (en) | 2008-01-29 |
WO2006011602A1 (ja) | 2006-02-02 |
CN101023324B (zh) | 2012-02-08 |
US20090006020A1 (en) | 2009-01-01 |
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