WO2011145204A1 - Boussole électronique - Google Patents

Boussole électronique Download PDF

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Publication number
WO2011145204A1
WO2011145204A1 PCT/JP2010/058608 JP2010058608W WO2011145204A1 WO 2011145204 A1 WO2011145204 A1 WO 2011145204A1 JP 2010058608 W JP2010058608 W JP 2010058608W WO 2011145204 A1 WO2011145204 A1 WO 2011145204A1
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WO
WIPO (PCT)
Prior art keywords
detection value
center point
axis
value
electronic compass
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PCT/JP2010/058608
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English (en)
Japanese (ja)
Inventor
本蔵晋平
本蔵義信
土田克彦
浦川一雄
Original Assignee
アイチ・マイクロ・インテリジェント株式会社
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Priority to PCT/JP2010/058608 priority Critical patent/WO2011145204A1/fr
Publication of WO2011145204A1 publication Critical patent/WO2011145204A1/fr

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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 an electronic compass capable of accurately measuring the direction.
  • an electronic compass mounted on a mobile phone or the like is known.
  • This electronic compass is equipped with a triaxial magnetic sensor that detects the intensity of geomagnetism in the triaxial directions of the X, Y, and Z axes. Based on this detection value, the orientation that the mobile phone is facing is calculated and displayed. Display on the screen.
  • the detection value (Xi, Yi, Zi) of the three-axis magnetic sensor changes.
  • This detection value exists on the surface of a sphere (hereinafter referred to as an orientation sphere).
  • an orientation sphere When there is an influence of the internal magnetic field, the center point of the azimuth sphere does not coincide with the origin of the three-axis magnetic sensor and is offset.
  • the influence of the internal magnetic field can be removed.
  • the following method is adopted. (1) A method in which the user performs an operation of rotating the mobile terminal once in the X-axis, Y-axis, and Z-axis directions, and calculates the center point using the median value of the maximum value and the minimum value. (2) The user performs an operation of rotating the mobile terminal greatly, and thereby, four detection values that exist on the surface of the bearing sphere and are separated from each other are acquired. A method of calculating the center point of the azimuth sphere using these four detection values.
  • the present invention has been made in view of such conventional problems, and can correct the center point of the azimuth sphere while minimizing the rotation operation of the mobile terminal performed by the user, and is based on the internal magnetic field of the mobile terminal. It is intended to provide an electronic compass that can calculate the correct bearing without the influence.
  • the present invention is an electronic compass that is provided in a mobile terminal and detects an orientation in which the mobile terminal faces while correcting the influence of the internal magnetic field of the mobile terminal,
  • a three-axis magnetic sensor that is fixed to the portable terminal and that detects the geomagnetism intensity in the three-axis directions of the X axis, the Y axis, and the Z axis that are orthogonal to each other;
  • the detected value (Xi, Yi, Zi) of the geomagnetism by the three-axis magnetic sensor calculates the center point of the azimuth sphere drawn with the attitude change of the mobile terminal, and the center point after the calculation is the center after the calculation Center point correction means for correcting the point;
  • Azimuth calculating means for correcting the detected value of the geomagnetism by the three-axis magnetic sensor using the corrected coordinates of the center point and calculating the azimuth of the portable terminal using the corrected detected value;
  • the center point correcting means calculates a center axis of
  • the rotation operation for acquiring the fourth detection value is performed.
  • the center point of the azimuth sphere can be calculated by imposing it only once on the user.
  • this rotation operation is a small rotation operation that can be done by rotating it about 90 ° in one direction, it is easier to perform compared to the conventional case of rotating it around the X, Y, and Z axes. It is.
  • the user While using the electronic compass, the user naturally performs an operation of rotating the mobile terminal about the vertical axis in order to confirm the traveling direction. While this operation is performed, the first detection value to the third detection value are acquired, and the central axis is calculated. And a 4th detection value is acquired by the operation which a user turns over and tilts a portable terminal. Accordingly, the vertical bisector can be calculated, and the center point of the azimuth sphere can be obtained by calculating the intersection of the vertical bisector and the central axis.
  • the center point of the azimuth sphere can be automatically corrected while minimizing the rotation operation of the mobile terminal performed by the user, and the influence of the internal magnetic field of the mobile terminal is eliminated.
  • An electronic compass capable of calculating an accurate orientation can be provided.
  • FIG. 1 is a partially cutaway perspective view of a mobile terminal according to Embodiment 1.
  • FIG. 1 is a block diagram of an electronic compass in Embodiment 1.
  • FIG. 3 is an explanatory diagram of an orientation sphere in Example 1.
  • FIG. 3 is a diagram for explaining a method for calculating a center point of an orientation sphere according to the first embodiment. The figure for demonstrating the relationship between a portable terminal and direction (theta) in Example 1.
  • FIG. 2 is a simplified diagram of a three-axis magnetic sensor in Embodiment 1.
  • FIG. 2 is a flowchart of a program according to the first embodiment.
  • 10 is a flowchart of a program according to the second embodiment.
  • 10 is a flowchart of a program according to the third embodiment.
  • 10 is a flowchart of a program according to the fourth embodiment.
  • the first detection value, the second detection value, and the third detection value are acquired while the operation of confirming the orientation is performed by the user of the mobile terminal.
  • a horizontal rotation operation capable of detecting the first detection value, the second detection value, and the third detection value, and the fourth detection value can be detected. It is preferable to provide automatic correction means for automatically calculating and correcting the center point of the azimuth sphere during execution of a command for performing a reversing operation or tilting operation.
  • the reversing operation is an operation of reversing the mobile terminal by about 180 °
  • the tilting operation is an operation of tilting the mobile terminal by a smaller angle.
  • the horizontal rotation operation for rotating the portable terminal in the horizontal direction is naturally performed, and thus the first to third detection values can be acquired during this time.
  • the specific command is executed, and the fourth detection value is acquired together with the specific command. Then, the center point of the azimuth sphere is calculated and automatically corrected. As a result, the center point can be corrected without the user being aware of anything.
  • An abnormality determining means for determining whether or not the R is within a predetermined range, and when the R is determined not to be within the predetermined range by the abnormality determining means, the center point correcting means It is preferable to perform correction. In this way, the center point of the azimuth sphere can be corrected only when the mobile terminal approaches a magnet or the like and the detected value of the three-axis magnetic sensor is determined to be abnormal. Therefore, it is not necessary to calculate or correct the center point of the azimuth sphere when the detection value is normal.
  • a difference ⁇ R1 between the values R1 min and a difference ⁇ R2 between the maximum value R2 max and the minimum value R2 min of R2 are obtained, and improvement determination means for determining whether ⁇ R2 is smaller than ⁇ R1 is provided.
  • the center point is preferably corrected from (a1, b1, c1) to (a2, b2, c2).
  • a triaxial acceleration sensor that detects each intensity of gravitational acceleration in the triaxial direction.
  • a depression angle abnormality determining means for calculating a depression angle of the geomagnetism from a detection value of the three-axis acceleration sensor and a detection value of the three-axis magnetic sensor and determining whether the depression angle is within a predetermined range; It is preferable to correct the center point when the dip angle abnormality determining means determines that the dip angle is not within the predetermined range. In this way, the center point of the azimuth sphere can be corrected only when the mobile terminal approaches, for example, a magnet or the like and the geomagnetic dip is determined to be abnormal. Therefore, it is not necessary to calculate or correct the center point of the azimuth sphere when the dip angle is normal.
  • Example 1 An electronic compass according to an embodiment of the present invention will be described with reference to FIGS.
  • This example is an electronic compass 1 that is provided in the mobile terminal 2 and detects the direction in which the mobile terminal 2 faces while correcting the influence of the internal magnetic field of the mobile terminal 2.
  • an electronic compass 1 of this example is fixed to a portable terminal 2 and detects three intensities of geomagnetism in three axial directions of an X axis, a Y axis, and a Z axis that are orthogonal to each other.
  • a magnetic sensor 3 is provided. Further, as shown in FIG.
  • the detected value P (Xi, Yi, Zi) of the geomagnetism by the three-axis magnetic sensor 3 calculates the center point O2 of the azimuth sphere 6 drawn with the attitude change of the mobile terminal 2, Center point correcting means 40 (see FIG. 2) for correcting the center point O1 before calculation to the center point O2 after calculation is provided. Further, as shown in FIG. 3, using the coordinates of the corrected center point O2, the detection value P (Xi, Yi, Zi) of the geomagnetism by the triaxial magnetic sensor 3 is corrected, and the detection value after the correction is calculated. An azimuth calculating means 41 (see FIG. 2) for calculating the azimuth in which the mobile terminal 2 is directed is provided. As shown in FIG.
  • the center point correction means 40 includes a first detection value P1 (X1, Y1, Z1) detected by the triaxial magnetic sensor 3, a second detection value P2 (X2, Y2, Z2), While calculating the central axis 7 of the circle 70 including the third detection value P3 (X3, Y3, Z3), one of the first detection value P1, the second detection value P2, and the third detection value P3.
  • a three-axis magnetic sensor 3 and a microcomputer 4 are mounted on a mobile terminal 2 (mobile phone).
  • the Z axis of the three-axis magnetic sensor 3 is oriented in the direction perpendicular to the operation surface 150 of the mobile terminal 2, and the X axis is oriented in the lateral width direction of the mobile terminal 2. Further, the Y axis is oriented in a direction perpendicular to both the X axis and the Z axis.
  • the triaxial magnetic sensor 3 has a structure in which the three amorphous wires (magnetic bodies) 30x to 30z and the control unit 32 are mounted on the substrate 31. These three amorphous wires 30x to 30z are directed in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively, and detect the X-axis component, Y-axis component, and Z-axis component of the geomagnetic vector, respectively.
  • the microcomputer 4 described above includes a CPU 50, a ROM 51, a RAM 52, an I / O 54, and a line 53 connecting them as shown in FIG.
  • the microcomputer 4 includes a transmission / reception unit 111, a communication control unit 11, a rear speaker 12, a vibrator for incoming notification, a GPS antenna 18, a GPS positioning unit 19, a triaxial acceleration sensor 17, a display unit 14, an operation unit 15, a microphone / speaker. 16 is connected.
  • the ROM 51 stores a program 51p, and the CPU 50 reads out and executes the program 51p, whereby the center point correcting means 40, the direction calculating means 41, the reversing operation notifying means 42, and the automatic correcting means 43 of the present invention.
  • the abnormality determination unit 44, the improvement determination unit 45, and the depression angle abnormality determination unit 46 are realized.
  • the center point O 1 is the center point of the azimuth sphere 60
  • the center point O 2 is the center point of the azimuth sphere 6.
  • the center point of the triaxial magnetic sensor 3 does not coincide with the origin O of the X axis, the Y axis, and the Z axis, and the center point is offset due to the influence of the internal magnetic field of the mobile terminal 2. Since the internal magnetic field also changes depending on the environment such as temperature, the center point also changes from O1 to O2 accordingly.
  • the azimuth sphere 6 including the first detection value P1 to the fourth detection value P4 acquired by the three-axis magnetic sensor 3 is calculated, and the center point O2 (a2, b2, c2) is obtained.
  • the center point O2 As the center of the three-axis magnetic sensor, the influence of the internal magnetic field can be removed. That is, the detected value OP vector (Xi, Yi, Zi) affected by the internal magnetic field can be corrected to an accurate geomagnetic O2P vector by using the following formula.
  • the corrected geomagnetism (Xi ⁇ a2, Yi ⁇ b2, Zi ⁇ c2) (Mx, My, Mz). Further, the detected value of the gravitational acceleration G by the above-described triaxial acceleration sensor 17 is assumed to be (Gx, Gy, Gz). From these detection values, the orientation ⁇ of the mobile terminal 2 at the terminal tilted by the roll angle ⁇ and the pitch angle ⁇ can be calculated by using, for example, the following mathematical formula. As shown in FIG. 5, the azimuth ⁇ is an angle formed by projecting the Y axis of the three-axis magnetic sensor 3 onto the horizontal plane H and the projection vector Y ′ and the vector 50 heading toward magnetic north.
  • the first detection value P1 (X1, Y1, Z1)
  • the second detection value P2 (X2, Y2, Z2) acquired by the three-axis magnetic sensor
  • the third detection value P3 A method of calculating the center point O2 (a2, b2, c2) of the azimuth sphere 6 using the X3, Y3, Z3) and the fourth detection value P4 (X4, Y4, Z4) will be described.
  • the center point Q (x q , y q , z q ) and the center axis 7 of the circle 70 are obtained from the detected values P1, P2, P3.
  • the point Q can be obtained using the following mathematical formula.
  • the central axis 7 can be obtained using the following mathematical formula.
  • the measured value P4 is separated from the plane P1P2P3 by a predetermined distance k2. That is, the projection component of the P4Q vector onto the direction vector of the central axis 7 is obtained.
  • intersection O2 between the vertical bisector 8 of P1 and P4 and the central axis 7 is obtained using the following mathematical formula.
  • step S1 first to third detection values P1 to P3 are acquired.
  • the detected values P1 to P3 can be acquired during the use of the electronic compass 1 because the user performs an operation of rotating the portable terminal 2 about the vertical axis.
  • step S1 ends, the process proceeds to step S2, and the central axis 7 (see FIG. 4) is calculated.
  • step S3 the fourth detection value P4 existing at a position deviating from the plane including the first detection value P1 to the third detection value P3 (see FIG. 4) is acquired.
  • the fourth detection value P4 is acquired by notifying the user so as to perform an operation of inverting the mobile terminal 2.
  • step S4 After obtaining the fourth detection value P4, the center point O2 of the azimuth sphere 6 is calculated (step S4).
  • step S5 the center point of the azimuth sphere is changed from O1 (a1, b1, c1) to O2 (a2, b2, c2) (see FIG. 3).
  • the orientation ⁇ of the portable terminal 2 is calculated using the value (Xi ⁇ a2, Yi ⁇ b2, Zi ⁇ c2) obtained by correcting the measurement value P (Xi, Yi, Zi) of the triaxial magnetic sensor 3 and the above formula 2. Is calculated and displayed on the display unit 14 (step S6).
  • step S6 When the program is executed again after step S6 is completed, the corrected center point O2 is replaced with O1. Then, by executing steps S1 to S6 again, new detection values P1 to P4 are obtained, and a new center point O2 is calculated.
  • the central axis 7 (see FIG. 4) of the circle 70 passing through the first detection value P1 to the third detection value P3 is calculated. Further, a perpendicular bisector 8 of the fourth detection value P4 existing at a position deviating from the plane including the circle 70 and any one of the first detection value P1 to the third detection value P3 is provided. The intersection of the center axis 7 and the vertical bisector 8 is determined as the center point O 2 of the azimuth sphere 6. In this way, since the first detection value P1, the second detection value P2, and the third detection value P3 can be acquired while the user is using the electronic compass 1, the fourth detection value P4 is acquired.
  • the center point O2 of the azimuth sphere 6 can be calculated only by imposing a rotation operation for the user only once.
  • this rotation operation is a small rotation operation that can be done by rotating it about 90 ° in one direction, it is easier to perform compared to the conventional case of rotating it around the X, Y, and Z axes. It is.
  • the user while using the electronic compass 1, the user naturally performs an operation of rotating the portable terminal 2 around the vertical axis in order to confirm the traveling direction. While this operation is being performed, the first detection value P1 to the third detection value P3 are acquired, and the central axis 7 is calculated. Then, when the user performs an operation such as turning over the mobile terminal 2, the fourth detection value P4 is acquired. Thereby, the vertical bisector 8 can be calculated, and the center point of the azimuth sphere 6 can be obtained by calculating the intersection of the vertical bisector 8 and the central axis 7.
  • reporting means 42 which alert
  • an automatic correction means 43 is provided that automatically calculates and corrects the center point O2 of the azimuth sphere 6 during execution of a command that performs a reversing operation or tilting operation that can detect the value P4.
  • the reversing operation is an operation of reversing the mobile terminal 2 by about 180 °
  • the tilting operation is an operation of tilting the mobile terminal 2 by an angle smaller than that.
  • the screen when the reverse operation is performed, the screen can be zoomed or switched.
  • the horizontal rotation operation for rotating the portable terminal 2 in the horizontal direction is naturally performed, and thus the first detection value P1 to the third detection value P3 can be acquired during this time.
  • the specific command is executed, and the fourth detection value P4 is acquired together with the specific command.
  • the center point O2 of the azimuth sphere 6 is calculated and automatically corrected. As a result, the center point O2 can be corrected without the user being aware of anything.
  • the center point O2 of the azimuth sphere 6 can be corrected while minimizing the rotation operation of the mobile terminal 2 performed by the user, and the influence of the internal magnetic field of the mobile terminal 2 is removed.
  • step S1 the first detection value P1 (X1, Y1, Z1), the second detection value P2 (X2, Y2, Z2), the third detection value P3 (X3, Y3, After obtaining Z3), the process moves to step S1a, and the absolute value R of the geomagnetism is calculated by using the following mathematical formula.
  • R ⁇ (X1 2 + Y1 2 + Z1 2 ) Then, it is determined whether or not R is within a predetermined range.
  • step S1b the azimuth ⁇ of the portable terminal 2 is calculated using the center point O1 before correction, and the process returns to step S1.
  • step S1c the process proceeds to step S1c, and “Please change the measurement location” is displayed.
  • step S1d the detection values P1, P2, and P3 are acquired again (step S1d)
  • step S1e the absolute value R is calculated again, and it is determined whether or not this R is within a predetermined range. If YES is determined here, the process moves to step S1b, and the orientation ⁇ of the portable terminal 2 is calculated and displayed using the center point O1 before correction. If it is determined No in step S1e, step S2 and subsequent steps are processed.
  • the same configuration as that of the first embodiment is provided.
  • the center point of the azimuth sphere 6 can be corrected only when the mobile terminal 2 approaches a magnet or the like and it is determined that the detection value of the three-axis magnetic sensor 3 is abnormal. Therefore, it is not necessary to calculate or correct the center point of the azimuth sphere 6 when the detected value is normal.
  • Example 3 In this example, the program 51p is changed. As shown in FIG. 9, after calculating the center point O2 in step S4, the process moves to step S5a to determine which of the old center point O1 and the new center point O2 is better. From the coordinates (a1, b1, c1) of the old center point O1 and the coordinates (a2, b2, c2) of the new center point O2, the geomagnetic absolute values R1 and R2 (see FIG. 3) are calculated using the following formula. The calculation is performed for a plurality of detection values P (Xi, Yi, Zi) other than the first detection value P1 to the fourth detection value P4.
  • R1 ⁇ ((Xi ⁇ a1) 2 + (Yi ⁇ b1) 2 + (Zi ⁇ c1) 2 )
  • R2 ⁇ ((Xi ⁇ a2) 2 + (Yi ⁇ b2) 2 + (Zi ⁇ c2) 2 )
  • ⁇ R1 ⁇ ((Xi ⁇ a1) 2 + (Yi ⁇ b1) 2 + (Zi ⁇ c1) 2
  • R2 ⁇ ((Xi ⁇ a2) 2 + (Yi ⁇ b2) 2 + (Zi ⁇ c2) 2 )
  • R1 and R2 are calculated for, for example, about five measurement values P (Xi, Yi, Zi), and ⁇ R1 and ⁇ R2 are obtained from the maximum and minimum values.
  • the center point O1 before the correction is more accurate, and it may be assumed that the detection of the geomagnetism becomes inaccurate by the correction, but this problem can be prevented by adopting the above configuration.
  • step S1 ′ the detected value P (Mx, My, Mz) of the geomagnetism by the triaxial magnetic sensor 3 and the detected value G (Gx of the gravitational acceleration by the triaxial acceleration sensor 17 are displayed. , Gy, Gz). Thereafter, the process proceeds to step S1a ′, and the dip angle ⁇ is calculated using the following mathematical formula. Then, it is determined whether or not the depression angle ⁇ is within a predetermined range. If YES is determined here, step S1b is processed, and then the process returns to step S1 ′. On the other hand, if it is determined No in step S1a ′, step S2 and subsequent steps are processed.
  • the center point of the azimuth sphere 6 can be corrected only when the portable terminal 2 approaches, for example, a magnet or the like and the geomagnetic dip angle ⁇ is determined to be abnormal. Therefore, there is no need to calculate or correct the center point of the azimuth sphere 6 when the depression angle ⁇ is normal.
  • Example 1 An experimental example of the electronic compass 1 according to the present invention will be shown.
  • Azimuth meter 3-axis magnetic sensor 3 (magnetic measurement resolution 3 mG, linearity 0.3% / full scale X, Y, and Z axes are placed in the right hand system Measurement range 3G
  • a mobile phone equipped with this compass and incorporating the program 51p was created. The mobile phone has a distribution of an internal magnetic field of ⁇ 5000 mG, and an azimuth meter is installed at a location of 100 mG.
  • Example 2 The normal state was continuously displayed in blue for each measurement using the compass and the mobile phone of Experimental Example 1. When the roll is rotated or tilted, it is displayed in sound or green. As a result of comparing the recalculation results (10, 10 and 20 mG) with the conventional origin, a better value was obtained, so the remeasured value was taken as the new origin.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measuring Magnetic Variables (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne une boussole électronique qui calcule l'axe central (7) d'un cercle (70) sur lequel se trouvent une première valeur détectée (P1), une deuxième valeur détectée (P2) et une troisième valeur détectée (P3), toutes trois détectées par un magnétomètre à trois axes. Ensuite, ladite boussole électronique détermine par calcul que le centre (O2) de la sphère de direction (6) est le point où ledit axe central (7) croise un plan bissecteur perpendiculaire (8) qui contient le point central (80) d'une ligne droite (81) et qui est perpendiculaire à cette dernière, la ligne droite (81) connectant la première valeur détectée (P1), la deuxième valeur détectée (P2) ou la troisième valeur détectée (P3) à une quatrième valeur détectée (P4) se trouvant hors du plan contenant ledit cercle (70). Ceci permet de corriger le centre (O2) de la sphère de direction (6) et de calculer une direction précise.
PCT/JP2010/058608 2010-05-21 2010-05-21 Boussole électronique WO2011145204A1 (fr)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2669627A1 (fr) * 2012-05-31 2013-12-04 BlackBerry Limited Système et procédé pour étalonner un magnétomètre sur un dispositif mobile
FR2992735A1 (fr) * 2012-06-29 2014-01-03 Movea Procede de calibration continue d'un capteur
CN103513205A (zh) * 2012-06-26 2014-01-15 上海汽车集团股份有限公司 用于校正磁场传感器信号的方法和车辆导航系统
US9030192B2 (en) 2012-05-31 2015-05-12 Blackberry Limited System and method for calibrating a magnetometer on a mobile device

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Publication number Priority date Publication date Assignee Title
JP2004264028A (ja) * 2003-01-15 2004-09-24 National Institute Of Advanced Industrial & Technology 姿勢角処理装置および姿勢角処理方法
WO2005003683A1 (fr) * 2003-07-03 2005-01-13 Asahi Kasei Emd Corporation Dispositif et procede de mesure d'azimut
WO2006009247A1 (fr) * 2004-07-23 2006-01-26 Yamaha Corporation 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
JP2006098200A (ja) * 2004-09-29 2006-04-13 Yamaha Corp 携帯端末
WO2007129653A1 (fr) * 2006-05-09 2007-11-15 Alps Electric Co., Ltd. Programme de calibrage et compas électronique

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004264028A (ja) * 2003-01-15 2004-09-24 National Institute Of Advanced Industrial & Technology 姿勢角処理装置および姿勢角処理方法
WO2005003683A1 (fr) * 2003-07-03 2005-01-13 Asahi Kasei Emd Corporation Dispositif et procede de mesure d'azimut
WO2006009247A1 (fr) * 2004-07-23 2006-01-26 Yamaha Corporation 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
JP2006098200A (ja) * 2004-09-29 2006-04-13 Yamaha Corp 携帯端末
WO2007129653A1 (fr) * 2006-05-09 2007-11-15 Alps Electric Co., Ltd. Programme de calibrage et compas électronique

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2669627A1 (fr) * 2012-05-31 2013-12-04 BlackBerry Limited Système et procédé pour étalonner un magnétomètre sur un dispositif mobile
US9030192B2 (en) 2012-05-31 2015-05-12 Blackberry Limited System and method for calibrating a magnetometer on a mobile device
CN103513205A (zh) * 2012-06-26 2014-01-15 上海汽车集团股份有限公司 用于校正磁场传感器信号的方法和车辆导航系统
FR2992735A1 (fr) * 2012-06-29 2014-01-03 Movea Procede de calibration continue d'un capteur
WO2014001470A1 (fr) * 2012-06-29 2014-01-03 Movea Procede de calibration continue d'un capteur

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