WO2014119824A1 - 3축 mems 지자기 센서의 방위각 보정장치 및 보정방법 - Google Patents
3축 mems 지자기 센서의 방위각 보정장치 및 보정방법 Download PDFInfo
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- WO2014119824A1 WO2014119824A1 PCT/KR2013/004694 KR2013004694W WO2014119824A1 WO 2014119824 A1 WO2014119824 A1 WO 2014119824A1 KR 2013004694 W KR2013004694 W KR 2013004694W WO 2014119824 A1 WO2014119824 A1 WO 2014119824A1
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- Prior art keywords
- azimuth
- geomagnetic
- distortion
- magnetic vector
- geomagnetic sensor
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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 azimuth correction device and a correction method of a three-axis MEMS geomagnetic sensor, and more particularly, to calculate a planar magnetic vector from the earth magnetic field measured using the three-axis MEMS geomagnetic sensor, and to minimize The geomagnetic sensor distorted by surrounding objects and environment generating magnetic force to accurately calculate the 360 ° azimuth angle based on magnetic north by extracting the coefficients necessary for azimuth correction by deriving the relational expression expressed by the elliptic equation by applying the square method.
- An apparatus and method for calibrating a value is an apparatus and method for calibrating a value.
- geomagnetic sensors have been widely used to calculate azimuth angles of antibodies such as robots, vehicles, aircraft and helicopters.
- the azimuth angle using the geomagnetic sensor is calculated using the planar magnetic vector obtained after measuring the 3-axis earth magnetic field and converting it to the horizontal coordinate system for the current pose.
- the method of performing correction before using the sensor has a disadvantage in that it cannot deal with geomagnetic distortion caused by changes in surrounding objects or environment during use.
- an object of the present invention is an apparatus and method capable of accurately calculating the azimuth angle for 360 ° directions by correcting distortion using only the output of a 3-axis geomagnetic sensor without any external device and repeatedly performing this process even while using the sensor. To provide.
- the azimuth correction device of a three-axis MEMS geomagnetic sensor for solving the above problems by using the earth magnetic field measured from the three-axis geomagnetic sensor to convert to a horizontal coordinate system for the current posture and planar magnetic
- a planar magnetic vector calculation unit obtaining a vector
- a geomagnetic distortion identification unit for deriving a magnetic vector relationship expressed in the form of an ellipse equation and extracting a correction coefficient from the planar magnetic vector set collected by the planar magnetic vector calculator
- an azimuth calculation unit configured to correct the geomagnetic distortion and calculate an azimuth using the correction coefficient extracted by the geomagnetic distortion identification unit.
- the present invention also includes obtaining a planar magnetic vector from the earth magnetic field measured by the three-axis geomagnetic sensor; Deriving a magnetic vector relationship expressed in the form of an ellipse equation and extracting a magnetic vector correction coefficient from the planar magnetic vector set collected in the step; Correcting geomagnetic distortion and calculating azimuth using the correction coefficient extracted in the above step; It provides an azimuth correction method of a three-axis MEMS geomagnetic sensor consisting of.
- the azimuth correction device of the three-axis MEMS geomagnetic sensor according to the present invention as described above, it is possible to correct the distortion using only the output of the three-axis geomagnetic sensor without the help of an external device, and this process is repeatedly performed during the use of the sensor, thereby increasing the magnetic force. There is an effect that can calculate the correct azimuth angle irrespective of the surrounding objects and the environment to generate.
- FIG. 1 is a block diagram schematically illustrating an azimuth correction process of a 3-axis MEMS geomagnetic sensor according to an embodiment of the present invention.
- FIG. 2 illustrates a relationship between a plane magnetic vector and a direction angle on a horizontal coordinate system.
- FIG. 3 shows a planar magnetic vector relationship of an ideal geomagnetic sensor in a two-dimensional graph.
- FIG. 4 illustrates a planar magnetic vector relationship of a geomagnetic sensor in a two-dimensional graph when hard iron distortion occurs.
- FIG. 5 illustrates a planar magnetic vector relationship of a geomagnetic sensor in a two-dimensional graph when soft iron distortion occurs.
- FIG. 6 illustrates a comparison between planar magnetic vector relationships before and after distortion correction of a geomagnetic sensor according to an exemplary embodiment of the present invention.
- FIG 7 illustrates an output error in azimuth calculation after geomagnetic sensor distortion correction according to an embodiment of the present invention.
- an azimuth correction device for a three-axis MEMS geomagnetic sensor includes a plane magnetic vector calculation unit 100 for obtaining a planar magnetic vector from an earth magnetic field measured by a three-axis geomagnetic sensor; A geomagnetic distortion identification unit (200) for deriving a magnetic vector relationship expressed in the form of an ellipse equation and extracting a magnetic vector correction coefficient from a planar magnetic vector set collected by the planar magnetic vector calculation unit (100); Azimuth angle calculation unit 300 is used to correct the geomagnetic distortion by using the correction coefficient extracted from the geomagnetic distortion identification unit 200 and calculate the azimuth angle.
- the planar magnetic vector may be obtained by converting the earth magnetic field measured from the 3-axis geomagnetic sensor into a horizontal plane coordinate system as shown in Equation 1 below, and the azimuth angle is the plane. It is calculated from the planar magnetic vector obtained by the magnetic vector calculation unit 100.
- X H and Y H are plane magnetic vectors
- m x , m y and m z are the geomagnetic fields of each axis
- ⁇ and ⁇ are the roll and pitch attitude angles to the reference coordinate system
- ⁇ is the reference coordinate system. For azimuth.
- the relationship of the planar magnetic vector with respect to 360 ° azimuth is represented by a circle whose origin is the center using a two-dimensional graph, but the magnetic field distortion due to the influence of surrounding objects and the environment is usually because the magnitude of the earth's magnetic field is very small. This is likely to occur, and the distortion of the planar magnetic vector is also distorted.
- the soft iron distortion is generated by an object around the geomagnetic sensor, similar to the hard iron distortion, but the earth magnetic field itself is distorted and measured. Accordingly, the relation of the planar magnetic vector is centered at the origin and rotated in an arbitrary direction. It is expressed in the form of an ellipse.
- x , y are planar magnetic vectors
- a , b , c , d , e , and f are equation coefficients of the ellipse.
- the elliptic equation derived from the set of n magnetic vectors is expressed as a matrix as shown in [Equation 3] below. If the elements of the set are 5 or more, the solution of the equation is solved by the least square method as shown in [Equation 4] below. Can be calculated using.
- n is the number of plane magnetic vectors.
- the center position of the ellipse, the rotation angle, the major axis, and the short axis length 200 can be calculated from the equation of the ellipse from which the coefficient is obtained, as shown in [Equation 5] below, and the center of the ellipse as shown in [Equation 6] below.
- a non-rotated elliptical planar magnetic vector, and the geomagnetic distortion can be corrected by compensating the planar magnetic vector relationship with a circle by multiplying the X-axis magnetic vector by the ratio of the long axis and short axis as shown in [Equation 7] below. have.
- cx and cy are the centers of the ellipses
- w and h are the lengths of the long and short axes of the ellipse, respectively.
- X cal and Y cal are distortion-corrected plane magnetic vectors
- ⁇ is an angle of rotation of an ellipse
- X H and Y H are plane magnetic vectors of each axis
- c x and c y are centers of an ellipse.
- w and h are the lengths of the major axis and the minor axis, respectively.
- the center is the origin as compared to the plane magnetic vector of the sensor to which the correction method is not applied. Prove that it is represented in a circle.
- the waveform measured from the geomagnetic sensor to which the geomagnetic distortion correction method according to the exemplary embodiment of the present invention is applied proves that there is almost no output error.
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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)
Abstract
Description
Claims (5)
- 3축 지자기 센서에서 측정된 지구 자기장으로부터 평면 자기벡터를 획득하는 평면 자기벡터 계산부(100)와;상기 평면 자기벡터 계산부(100)에서 수집된 평면 자기벡터 집합으로부터 타원의 방정식 형태로 표현되는 자기벡터 관계를 유도하고 자기벡터 보정 계수를 추출하는 지자기 왜곡 식별부(200)와;상기 지자기 왜곡 식별부(200)에서 추출된 보정 계수를 이용하여 지자기 왜곡을 보정하고 방위각을 계산하는 방위각 계산부(300)를 포함하여 이루어지는 것을 특징으로 하는 3축 MEMS 지자기 센서의 방위각 보정장치.
- 3축 지자기 센서에서 측정된 지구 자기장으로부터 평면 자기벡터를 획득하는 단계(S1);상기 단계(S1)에서 수집된 평면 자기벡터 집합으로부터 타원의 방정식 형태로 표현되는 자기벡터 관계를 유도하고 자기벡터 보정 계수를 추출하는 단계(S2);상기 단계(S2)에서 추출된 보정 계수를 이용하여 지자기 왜곡을 보정하고 방위각을 계산하는 단계(S3);로 이루어지는 것을 특징으로 하는 3축 MEMS 지자기 센서의 방위각 보정방법
- 청구항 2에 있어서,상기 단계(S1)에서 3축 지자기 센서는 Hard Iron 왜곡과 Soft Iron 왜곡이 발생할 경우에 대하여 왜곡을 보상할 수 있는 것을 특징으로 하는 3축 MEMS 지자기 센서의 방위각 보정방법.
- 청구항 2에 있어서,상기 단계(S2)에서는 왜곡된 평면 지자기 벡터로부터 타원의 방정식을 실시간 식별하고 보정에 필요한 계수를 추출하는 것을 특징으로 하는 3축 MEMS 지자기 센서의 방위각 보정방법.
- 청구항 2에 있어서,상기 단계(S3)에서는 왜곡 보정 후 평면 지자기벡터의 관계가 원점을 중심으로 하는 원으로 보상되는 것을 특징으로 하는 3축 MEMS 지자기 센서의 방위각 보정방법.
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CN113237472A (zh) * | 2021-04-29 | 2021-08-10 | 湖北麦格森斯科技有限公司 | 一种具有电子罗盘功能的设备 |
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US5095631A (en) * | 1989-11-07 | 1992-03-17 | Solomon Gavril | Magnetic compass |
JP2004309227A (ja) * | 2003-04-03 | 2004-11-04 | Asahi Kasei Electronics Co Ltd | 計測装置、方位角計測装置及びキャリブレーションプログラム、並びにキャリブレーション方法 |
JP2006226810A (ja) * | 2005-02-17 | 2006-08-31 | Alps Electric Co Ltd | 方位計測装置 |
KR20080026395A (ko) * | 2006-09-20 | 2008-03-25 | 삼성전자주식회사 | 자기 환경을 고려한 컴퍼스 센서의 교정 방법 및 장치와이를 이용한 방위각 측정 방법 및 장치 |
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US5095631A (en) * | 1989-11-07 | 1992-03-17 | Solomon Gavril | Magnetic compass |
JP2004309227A (ja) * | 2003-04-03 | 2004-11-04 | Asahi Kasei Electronics Co Ltd | 計測装置、方位角計測装置及びキャリブレーションプログラム、並びにキャリブレーション方法 |
JP2006226810A (ja) * | 2005-02-17 | 2006-08-31 | Alps Electric Co Ltd | 方位計測装置 |
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