WO2019127139A1

WO2019127139A1 - Calibration method for magnetometer and related device

Info

Publication number: WO2019127139A1
Application number: PCT/CN2017/119115
Authority: WO
Inventors: 谢俊; 王记
Original assignee: 深圳市柔宇科技有限公司
Priority date: 2017-12-27
Filing date: 2017-12-27
Publication date: 2019-07-04
Also published as: CN111433562A

Abstract

A calibration method for a magnetometer (101) and a related device. The calibration method comprises: outputting prompt information when a condition for calibrating the magnetometer (101) is satisfied, the prompt information being used for prompting a user to perform a calibration action of the magnetometer (101) on a terminal (10) (S201); obtaining magnetic data collected by the magnetometer (101) during the user performing the calibration action (S202); and calibrating the magnetometer (101) according to the magnetic data (S203). The magnetometer (101) can be calibrated more conveniently.

Description

Magnetometer calibration method and related equipment

Technical field

The present application relates to the field of magnetometer technology, and in particular, to a calibration method of a magnetometer and related equipment.

Background technique

With the development of electronic devices, a variety of sensors can be configured in the electronic device, and a plurality of sensors are used to collect environmental data. The electronic device can make decisions based on environmental data collected by the sensors, thereby implementing intelligentization of the electronic devices. Among them, more and more electronic devices are equipped with a magnetometer, which can detect the magnetic field of a magnetic field in a certain direction, and the magnetometer can be applied to an electronic compass or an angle measurement. Currently, with the development of technologies such as terminals, such as wearable devices, more and more terminals are equipped with magnetometers. The terminal can use the magnetometer to achieve more functions, thereby improving the user experience.

However, since the magnetometer is more susceptible to magnetic field interference, the magnetometer in the terminal needs to be calibrated to enable the magnetometer to capture accurate environmental data. In the current method of calibrating the magnetometer of an electronic device, it is usually necessary to adjust various postures of the electronic device to implement calibration of the electronic device. While some terminals, such as wearable devices, have limited adjustable attitude angles, current calibration methods are not suitable for wearable devices. Therefore, how to calibrate the magnetometer in the terminal with limited adjustment posture has become an issue actively studied by those skilled in the art.

Summary of the invention

The embodiment of the present application provides a calibration method of a magnetometer and related equipment. Improves the convenience of calibration of the magnetometer.

In a first aspect, an embodiment of the present application provides a calibration method for a magnetometer, the method comprising:

When the condition for calibrating the magnetometer is satisfied, the prompt information is output, and the prompt information is used to prompt the user to perform a calibration action on the terminal, where the magnetometer is disposed in the terminal;

Obtaining magnetic data collected by the magnetometer during the user performing the calibration action;

The magnetometer is calibrated based on the magnetic force data.

In a second aspect, the embodiment of the present application provides a terminal, where the terminal includes:

Magnetometer

Memory;

a processor coupled to the memory;

Wherein the memory is used to store computer instructions;

The processor is operative to invoke the computer instructions to perform the method of the first aspect.

In a third aspect, an embodiment of the present application provides a terminal, where the terminal includes:

Input unit, processing unit and output unit;

The output unit is configured to output prompt information when the condition for calibrating the magnetometer is satisfied, where the prompt information is used to prompt the user to perform a calibration action on the terminal, where the magnetometer is disposed in the terminal;

The input unit is configured to acquire magnetic data collected by the magnetometer during the user performing the calibration action;

The processing unit is configured to calibrate the magnetometer according to the magnetic force data.

In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, including computer instructions for being executed by a processor to implement the method in the first aspect.

In the embodiment of the present application, when the condition for calibrating the magnetometer is satisfied, the prompt information may be output, and the prompt information is used to prompt the user to perform a calibration action on the terminal. And the magnetic data collected by the magnetometer during the user performing the calibration action can be obtained. Further, the magnetometer can be calibrated based on the magnetic force data. In the above manner, the calibration efficiency of the magnetometer configured in the terminal, especially the wearable device, can be improved, and the convenience of calibrating the magnetometer can be improved.

DRAWINGS

1 is a schematic structural diagram of an application terminal according to an embodiment of the present application;

2 is a schematic flow chart of a calibration method of a magnetometer according to an embodiment of the present application;

3 is a schematic diagram of a calibration start posture and a relative coordinate system of a magnetometer in a case where a user wears a hand-held device according to an embodiment of the present application;

4 is a schematic diagram of a calibration start posture and a relative coordinate system of a magnetometer in a case where a user wears a head mounted device according to an embodiment of the present application;

5 is a schematic flow chart of another method for calibrating a magnetometer according to an embodiment of the present application;

6 is a schematic flow chart of still another calibration method of a magnetometer according to an embodiment of the present application;

7A-7F are schematic diagrams of prompt information provided by an embodiment of the present application;

FIG. 8 is a structural diagram of a unit of a terminal according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of a terminal according to an embodiment of the present application.

Detailed ways

The application scenario applied in the embodiment of the present application is briefly introduced.

Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of an application terminal according to an embodiment of the present application. As shown in FIG. 1, the circuit board 20 disposed on the terminal 10 is provided with a magnetometer 101, which can sense an external magnetic field and generate magnetic data based on an external magnetic field, and other components configured in the terminal 10, such as a processor and a controller. The current posture or angle of the terminal 10 can be determined based on the magnetic force data collected by the magnetometer. However, other components 102 disposed on the circuit board 20 may generate a magnetic field, which causes other components to become a source of interference of the magnetometer 101, that is, the magnetometer may perceive the interference magnetic field generated by the other components 102, collected by the magnetometer. Interference data is included in the magnetic data. In the embodiment of the present application, the calibration of the magnetometer refers to removing the interference data in the magnetic data collected by the magnetometer and improving the accuracy of the magnetic data collected by the magnetometer.

Here, the terminal 10 may include a wearable device such as a head mounted display (HMD), smart glasses, a smart watch, a smart bracelet, or other user terminal configured with a magnetometer, etc., limited.

The method embodiments in the embodiments of the present application are described below in conjunction with the foregoing application scenarios and the accompanying drawings.

As shown in FIG. 2, FIG. 2 is a schematic flowchart diagram of a calibration method of a magnetometer according to an embodiment of the present application. The method can be performed by the terminal configured with the magnetometer described above. As shown in FIG. 2, the method includes at least the following steps.

In step S201, when the condition for calibrating the magnetometer is satisfied, the prompt information is output, and the prompt information is used to prompt the user to perform a calibration operation of the magnetometer on the terminal.

Illustratively, the condition for calibrating the magnetometer may be that the user triggers a calibration operation, or the terminal periodically calibrates the magnetometer, or calibrates the magnetometer during the product testing phase, or the terminal controls the magnetometer before acquiring the magnetic data. , Calibrate the magnetometer. Here, the conditions for calibrating the magnetometer are not limited.

Further, after the condition for calibrating the magnetometer is satisfied, the prompt information may be output, and the prompt information is used to prompt the user to perform a calibration action on the terminal. The prompt information may be voice prompt information, text prompt information, image prompt information, or video prompt information, etc., and the output form of the prompt information is not limited herein.

Through the above prompt information, the user can learn the calibration action and perform the calibration action on the terminal. During the user performing the calibration action, the magnetometer in the terminal can acquire magnetic data.

Illustratively, the calibration action may be that the user rotates the terminal horizontally about a certain reference axis, or the user moves the terminal up or down by a symmetric amplitude or the like. For a detailed description of the calibration action, see below.

Alternatively, the user may be prompted to adjust the posture to the calibration start posture before the user performs the calibration action, and determine the relative coordinate system of the magnetometer according to the calibration start posture. The relative coordinate system of the magnetometer refers to the three-axis coordinate system of x, y, and z with the magnetometer as the origin.

For example, the user may be prompted to wear the terminal first, and the user is prompted to adjust the posture to the calibration start posture.

For example, as shown in FIG. 3, when the terminal is a hand-worn device such as a smart bracelet or a smart watch, the calibration starting posture is that the user places the arm horizontally on the chest. Alternatively, as shown in FIG. 4, when the terminal is a head mounted display device, the calibration start posture is the position of the user's head when the user visually looks ahead.

And after monitoring the user to adjust the posture of the calibration start position, the relative coordinate system of the magnetometer is determined, that is, in this case, the position of the magnetometer is the coordinate origin.

In a specific implementation, the terminal can determine the current posture of the user by using data collected by the configured acceleration sensor, gyroscope, gravity sensor, etc., and then monitor whether the user adjusts the posture to the calibration start posture. Alternatively, the terminal determines the current posture of the user using the configured imaging device or the like. This is not limited here.

As shown in FIG. 3 or as shown in FIG. 4, the relative coordinate system of the magnetometer is established based on the user's calibration starting posture. Wherein, in the calibration starting posture, the plane where the x-axis and the y-axis are located is the horizontal reference plane, and the plane where the z-axis and the y-axis are located is the vertical reference plane. The z axis represents the vertical direction. It should be noted that the relative coordinate system of the magnetometer does not change with respect to the positional relationship of the magnetometer, and the positional change occurs as the position of the magnetometer changes; the relative positional relationship between the horizontal reference plane and the vertical reference plane does not change, and does not follow The position of the magnetometer changes as the position changes.

After monitoring the user's calibration start posture, the user can be prompted to perform a calibration action on the terminal. For example, as shown in Figure 3, the user is prompted to rotate horizontally with the body as the axis; or, the user is prompted to raise the arm up or down until the arm is in the vertical direction. Alternatively, as shown in FIG. 4, the user is prompted to rotate horizontally with the body as the axis; or the user is prompted to raise or lower the head until the eye is in the vertical direction.

Certainly, in the above example, the user wears the terminal as an example for description. For the case where the user does not wear the terminal, the calibration of the magnetometer can be implemented by other calibration actions, which is not limited herein.

Step S202: Acquire magnetic data collected by the magnetometer during the user performing the calibration action.

Illustratively, the magnetometer can acquire magnetic data in real time during a user performing a calibration action, wherein the magnetic data can be understood to include accurate magnetic data of the acquired external magnetic field and interference data generated by other sources of interference. The magnetic force data collected by the magnetometer may include first magnetic force data in the x-axis direction, second magnetic force data in the y-axis direction, and third magnetic force data in the z-axis direction.

The terminal can obtain the magnetic data collected by the magnetometer in real time, or obtain one or more magnetic data collected by the magnetometer according to other conditions, which is not limited herein.

Step S203, calibrating the magnetometer according to the magnetic force data.

Exemplarily, the magnetometer can be calibrated according to the acquired magnetic data and the calibration action of the user to determine the interference data, and then remove the interference data in the magnetic data. For specific implementations, refer to the following embodiments.

In the embodiment of the present application, when the condition for calibrating the magnetometer is satisfied, the prompt information may be output, and the prompt information is used to prompt the user to perform a calibration action on the terminal. And the magnetic data collected by the magnetometer during the user performing the calibration action can be obtained. Further, the magnetometer can be calibrated based on the magnetic force data. In the above manner, the calibration efficiency of the magnetometer configured in the terminal, especially in the wearable device, can be improved, and the convenience of calibrating the magnetometer can be improved.

Please refer to FIG. 5. FIG. 5 is a schematic flowchart diagram of another method for calibrating a magnetometer according to an embodiment of the present application. The method can be applied to terminals, especially wearable devices. As shown in FIG. 5, the method includes at least the following steps.

Step S501, when the condition for calibrating the magnetometer is satisfied, outputting first prompt information, the first prompt information is used to prompt the user to perform the first calibration action; wherein the first calibration action includes performing the terminal Rotate horizontally with a rotation angle greater than or equal to 360 degrees.

Illustratively, the first calibration action may be to rotate the terminal horizontally, i.e., to maintain the terminal at a multiple of one or one revolution of the terminal on the same horizontal plane, i.e., the angle of rotation is greater than or equal to 360 degrees. Specifically, the angle of rotation may be a multiple of 360 degrees or 360 degrees. Here, if the relative coordinate system of the magnetometer is established by the user's calibration start posture, the horizontal plane described herein is the horizontal reference plane where the x-axis and the y-axis are located.

Specifically, if the terminal worn by the user is a hand-held device, the first calibration action may be to maintain the arm posture as a calibration start posture, and the user rotates one week or more. If the terminal worn by the user is a head mounted device, the first calibration action may be to maintain the line of sight level, and the user rotates one week or more. That is, the user needs to keep the x-axis and the y-axis in the relative coordinate system of the magnetometer on the horizontal reference plane during the rotation.

Step S502, acquiring one first magnetic data collected by the magnetometer during the performing the first calibration action by the user, wherein the first magnetic data is in a relative coordinate system based on the magnetometer Magnetic data in the x-axis direction, I is a positive integer.

Step S503, acquiring J second magnetic data collected by the magnetometer in the process of the user performing the first calibration action, wherein the second magnetic force data is in a relative coordinate system based on the magnetometer Magnetic data in the y-axis direction, J is a positive integer.

Exemplarily, in the process of performing the first calibration action, the terminal may only acquire the first first magnetic data and the J second magnetic data collected by the magnetometer. Wherein, I and J may be the same or different, and are not limited herein. The terminal can acquire the magnetic data collected by the magnetometer in real time or periodically, which is not limited herein. If the terminal periodically acquires the magnetic data collected by the magnetometer, the magnetic data acquired by the terminal is the magnetic data collected by the magnetometer based on the relative position of the origin on the circular motion trajectory formed by the first calibration action.

Wherein, in the process of the horizontal movement of the magnetometer, the magnetic data of the external magnetic field in the magnetic data acquired by the terminal through the above-mentioned method of acquiring the magnetic data may be relatively offset in pairs, and therefore, the maximum value of the first magnetic data may be acquired. The minimum value is obtained by summing the maximum value and the minimum value of the acquired first magnetic force data and dividing by 2 to obtain the first interference data collected by the magnetometer in the x-axis direction. Further, if the first magnetic force data is periodically acquired, an average value of the maximum value of the first magnetic force data and an average value of the minimum value of the first magnetic force data may be acquired, and an average of the maximum values of the acquired first magnetic force data may be obtained. The sum of the value and the minimum value is divided by 2 to obtain the first interference data collected by the magnetometer in the x-axis direction. Similarly, the maximum value and the minimum value of the second magnetic force data can be obtained, and the maximum value and the minimum value of the acquired second magnetic force data are summed and divided by 2, and the second magnetometer can be acquired in the y-axis direction. Interfere with data. Further, if the second magnetic force data is periodically acquired, an average value of the maximum value of the second magnetic force data and an average value of the minimum value of the second magnetic force data may be acquired, and the obtained maximum value of the second magnetic force data may be obtained. The sum of the average value and the minimum value is divided by 2 to obtain the second interference data collected by the magnetometer in the y-axis direction.

Step S504, outputting second prompt information, the second prompt information is used to prompt the user to perform a second calibration action, wherein the second calibration action comprises moving the terminal to a first position vertically upward and vertically downward The second position.

Specifically, if the user wears the hand-held device, the second prompt information may prompt the user to raise the hand until the arm is perpendicular to the horizontal reference plane, that is, the y-axis and the horizontal reference plane in the relative coordinate system of the magnetometer. Vertically, the position of the hand-held device is the first position; the user may be prompted to hang down the hand until the arm is perpendicular to the horizontal reference plane, that is, the y-axis in the relative coordinate system of the magnetometer is perpendicular to the horizontal reference plane. At this time, the position of the hand-held device is the second position.

Alternatively, if the user wears the head mounted device, the second prompt message prompts the user to raise the head until the y axis in the relative coordinate system of the magnetometer is perpendicular to the horizontal reference plane, and the position of the head mounted device is the first position. The user may also be prompted to bow until the y-axis in the relative coordinate system of the magnetometer is perpendicular to the horizontal reference plane, and the position of the head-mounted device is the second position.

In an implementation manner, the terminal may determine the first location and the second location by using data transmitted by the gravity sensor configured by the terminal.

Step S505, acquiring third magnetic force data respectively collected by the magnetometer when the terminal is placed in the first position and placed in the second position; wherein the third magnetic force data is based on the magnetometer Magnetic data in the z-axis direction of the relative coordinate system.

Exemplarily, the terminal may acquire third magnetic force data collected by the magnetometer in the first position and the second position, the third magnetic force data being magnetic data in the z-axis direction collected by the magnetometer. The averaging sum is added to obtain the interference data of the magnetometer in the z-axis direction, which can be described as the third interference data in the embodiment of the present application.

It should be noted here that the order of execution of steps S501 to S503 and steps S504 to S505 is not limited. That is, in another implementation manner, when the condition for calibrating the magnetometer is satisfied, steps S504 to S505 are performed first, and then steps S501 to S503 are performed.

Step S506, determining first interference data according to the first first magnetic data, determining second interference data according to the J second magnetic data, and determining an average value of the two third magnetic data is Three interference data.

Step S507, calibrating the magnetometer according to the first interference data, the second interference data and the third interference data.

Illustratively, the magnetometer can be calibrated by the interference data in the above-identified directions. Specifically, the magnetometer can be calibrated by removing the three interference data from any one of the magnetic data collected by the magnetometer. Specifically, the magnetic force data collected by the magnetometer includes data in the x-axis direction, data in the y-axis direction, and data in the z-axis direction. By subtracting the first interference data from the data in the x-axis direction, subtracting the second interference data from the data in the y-axis direction, and subtracting the third interference data from the data in the z-axis direction, the calibrated magnetic data can be obtained, and further Achieve calibration of the magnetometer.

Please refer to FIG. 6. FIG. 6 is a schematic flowchart diagram of another calibration method of a magnetometer according to an embodiment of the present application. The method can be applied to terminals, especially wearable devices. The method shown in FIG. 6 can be implemented in combination with any of the methods described in the foregoing method embodiments. As shown in FIG. 6, the method can include at least the following steps.

Step S601, in the process of the user performing the calibration action, monitoring whether the calibration action is in a deviation state.

Step S602, if it is detected that the calibration action is in a deviation state, outputting a third prompt information, the third prompt information is used to prompt the user that the calibration action is in a deviation state.

Illustratively, in the case where the user performs the first calibration action, the calibration action in the off state means that the position of the magnetometer deviates from the horizontal reference plane. When the user performs the second calibration operation, the deviation of the calibration operation means that the position of the magnetometer deviates from the vertical reference plane.

In one implementation, the data collected by the sensors configured in the terminal can be used to determine whether the calibration action is in a deviated state. For example, the data collected by the sensors such as the acceleration sensor, the gravity sensor, and the gyroscope configured in the terminal can determine the current location of the terminal, the current posture, and the like, and can be based on the current location of the terminal and the current posture. Information such as to determine if the calibration action is in a deviating state.

Optionally, the terminal may further determine action adjustment information corresponding to the deviation state according to the deviation state. The action adjustment information can be output to prompt the user to adjust the calibration action in time. The action adjustment information may be carried in the third prompt information or outputted simultaneously with the third prompt information, which is not limited herein. Optionally, after determining that the calibration action is in a deviation state, the data collected by the sensors such as the acceleration sensor, the gravity sensor, and the gyroscope configured in the terminal may further determine the degree of deviation of the calibration action, and determine according to the degree of deviation. The motion adjustment information is not limited herein.

For example, as shown in FIGS. 7A to 7C, FIGS. 7A to 7C illustrate a processing manner in which the first calibration action occurs in a state in which the user performs the first calibration action. Where circle 701 represents a terminal or magnetometer and horizontal line 703 represents a horizontal reference plane.

As shown in FIG. 7A, the positional relationship of the circle 701 and the horizontal line 703 is used to indicate that the deviation state of the first calibration action is within the allowable range. In this case, the user remains horizontally rotated.

As shown in FIG. 7B, the positional relationship between the circle 701 and the horizontal line 703 is used to indicate that the terminal or the magnetometer is tilted during the movement, and the degree of inclination is proportional to the angle between the center line of the circle 701 and the horizontal line 703. The display state in Fig. 7B indicates that during the calibration movement, the x-axis in the relative coordinate system of the magnetometer is at an angle with the horizontal reference plane, that is, the tilt state occurs, wherein the larger the angle, the more the tilt is high. In this case, the user can adjust the tilt angle of the terminal in the reverse direction based on the pattern shown in FIG. 7B so that it is no longer tilted. For example, in the case shown in FIG. 7B, when the user wears the head mounted device, the user can turn the head to the left until the x-axis is on the horizontal reference plane, that is, the center line of the displayed circle 701 is no longer inclined.

As shown in FIG. 7C, the positional relationship between the circle 701 and the horizontal line 703 is used to indicate that the terminal or the magnetometer has an angle between the y-axis in the relative coordinate system of the magnetometer and the reference horizontal plane during the movement, that is, A state in which the center line of the circle 701 in FIG. 7C is separated from the horizontal line 703 appears. The degree of separation is proportional to the parallel distance between the center line of the circle 701 and the horizontal line 703. That is, the larger the angle between the y-axis and the reference horizontal plane, the higher the degree of separation. In this case, the user can adjust the position of the terminal in the opposite direction to be on the reference level based on the pattern shown in FIG. 7C. For example, in the situation shown in Figure 7C, the user may bow down to the reference level when wearing the head mounted device.

Of course, the motion adjustment information can also be displayed by other means, which is not limited herein. For further example, as shown in FIGS. 7D to 7F, FIGS. 7D to 7F show a processing method in which the second calibration action occurs in a state in which the user performs the second calibration action. Wherein, circle 705 represents a terminal or magnetometer, horizontal line 707 represents a horizontal reference plane, vertical line 709 represents a vertical reference plane, and icon 710 represents a user performing a second calibration action. The second calibration action may be lifting the head upwards, or lifting the arm upwards. Here, the horizontal reference plane is formed by the user in the calibration starting posture, the x-axis and the y-axis in the relative coordinate system of the magnetometer, and the vertical reference plane is the relative coordinate of the magnetometer under the calibration starting posture by the user. The y-axis and the z-axis are formed in the system. The relative positional relationship between the horizontal reference plane and the vertical reference plane is constant, and does not change with the position of the magnetometer.

As shown in FIG. 7D, the positional relationship of the circle 705 with the horizontal line 707 and the vertical line 709 is used to indicate that the deviation state of the second calibration action is within the allowable range, that is, the intersection of the center point of the circle 705 with the horizontal line 707 and the vertical line 709. The points coincide, in which case the user continues to perform the second calibration action.

As shown in FIG. 7E, the center point of the circle 705 deviates from the vertical line 709, indicating that the x-axis in the relative coordinate system of the magnetometer is no longer perpendicular to the vertical reference plane, and the angle between the angle and the vertical reference plane is 90 degrees. The larger the value, the higher the degree of deviation. In this case, the user can adjust the second verification action to the right based on the display pattern in FIG. 7E until the center point of the circle 705 returns to a state where the intersection of the horizontal line 707 and the vertical line 709 coincides.

As shown in Figure 7F, the center point of the circle 705 is offset from the horizontal line 707, indicating that the y-axis in the relative coordinate system of the magnetometer is no longer perpendicular to the horizontal reference plane. The greater the difference between the angle between the angle and the horizontal reference plane and 90 degrees, the higher the degree of deviation. In this case, the user can adjust the second verification action downward based on the display pattern of FIG. 7F until the center point of the circle 705 returns to the state where the intersection of the horizontal line 707 and the vertical line 709 coincides.

The device embodiments in the embodiments of the present application are described below with reference to the accompanying drawings.

Please refer to FIG. 8. FIG. 8 is a block diagram of a processing apparatus of a terminal according to an embodiment of the present application. As shown in FIG. 8, the terminal may include an input unit 801, a processing unit 803, and an output unit 805.

The output unit 805 is configured to output prompt information when the condition for calibrating the magnetometer is satisfied, where the prompt information is used to prompt the user to perform a calibration action of the magnetometer on the terminal;

The input unit 801 is configured to acquire magnetic data collected by the magnetometer during the user performing the calibration action;

The processing unit 803 is configured to calibrate the magnetometer according to the magnetic force data.

The above functional units may also implement some or all of the methods described in the foregoing method embodiments, and details are not described herein again.

The above functional unit can be implemented based on the structure of the terminal shown in FIG. 9 and is not limited herein.

Please refer to FIG. 9. FIG. 9 is a schematic structural diagram of a terminal according to an embodiment of the present application. As shown in FIG. 9, the terminal may include a memory 901, a processor 903, a magnetometer 905, and an acceleration sensor 907. Wherein, the above components are coupled by a communication bus.

The memory 901 is configured to store applications, computer instructions, and data; the processor 903 is configured to invoke computer instructions and data to execute any of the methods performed by the terminal; the magnetometer 905 is configured to collect magnetic data and send the data to the processor 903. . The acceleration sensor 907 or other sensors are used to collect data and send the data to the processor 903. The processor 903 can determine the posture, motion, and the like of the terminal according to the received data, which is not limited herein.

The processor 903 may also include a Central Processing Unit (CPU). Alternatively, processor 903 can also be understood to be a controller.

The memory 901 may include a read only memory and a random access memory, and supplies instructions, data, and the like to the processor 903. A portion of the memory 901 may also include a non-volatile random access memory. For example, a computer readable storage medium may include computer instructions, applications, operating systems, and the like. The components of a particular application are coupled together, for example, via a bus system. In addition to the data bus, the bus system can also include a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the various buses are labeled as bus systems in the figure.

The method disclosed in the foregoing embodiments of the present invention may be implemented by the processor 903. Processor 903 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 903 or an instruction in a form of software. The processor 903 may be a general purpose processor, a digital signal processor, an application specific integrated circuit, an off-the-shelf programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The processor 903 can implement or perform the various methods, steps, and logic blocks disclosed in the embodiments of the present invention. The processor 903 can be an image processor, a microprocessor, or the processor can be any conventional processor or the like. The steps of the method disclosed in the embodiments of the present invention may be directly implemented by the hardware decoding processor, or may be performed by a combination of hardware and software modules in the decoding processor. The software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like. The storage medium is located in the memory 901. For example, the processor 903 can read an application, computer instructions or data in the memory 901, and complete the steps of the above-described method performed by the terminal in combination with its hardware.

For example, the processor 903 is configured to invoke the computer instructions to perform the following methods:

When the condition for calibrating the magnetometer is satisfied, the prompt information is output, and the prompt information is used to prompt the user to perform the calibration action of the magnetometer on the terminal;

The magnetometer is calibrated based on the magnetic force data.

Of course, the processor 903 can also execute any one of the foregoing method embodiments by using a computer instruction, and details are not described herein again.

The embodiment of the present application further provides a computer readable storage medium, including computer instructions for being executed by a processor to implement any one of the foregoing method embodiments.

The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. It should be covered by the scope of the present invention. Therefore, the scope of the invention should be determined by the scope of the appended claims.

Claims

A method for calibrating a magnetometer, comprising:

When the condition for calibrating the magnetometer is satisfied, the prompt information is output, and the prompt information is used to prompt the user to perform the calibration action of the magnetometer on the terminal;

Obtaining magnetic data collected by the magnetometer during the user performing the calibration action;

The magnetometer is calibrated based on the magnetic force data.
The calibration method according to claim 1, wherein

The output prompt information includes:

And outputting the first prompt information, the first prompt information is used to prompt the user to perform the first calibration action; wherein the first calibration action comprises horizontally rotating the terminal, and the rotation angle is greater than or equal to 360 degrees;

And acquiring the magnetic force data collected by the magnetometer during the performing the calibration action by the user, including:

Obtaining, by the magnetometer, I first magnetic data collected during a process of the user performing the first calibration action, wherein the first magnetic force data is an x-axis direction in a relative coordinate system based on the magnetometer Magnetic data, I is a positive integer;

Obtaining J second magnetic data collected by the magnetometer during the performing of the first calibration action by the user, wherein the second magnetic force data is based on a y-axis direction in a relative coordinate system of the magnetometer Magnetic data, J is a positive integer.
The calibration method according to claim 2, wherein the calibrating the magnetometer according to the magnetic force data comprises:

Determining, according to the first first magnetic data, first interference data;

Determining second interference data according to the J second magnetic force data;

Calibrating the magnetometer based on the first interference data and the second interference data.
The calibration method according to claim 1, wherein

The output prompt information includes:

And outputting second prompt information, where the second prompt information is used to prompt the user to perform the second calibration action;

Wherein the second calibration action comprises moving the terminal to a first position vertically upward and a second position moving vertically downward;

And acquiring the magnetic force data collected by the magnetometer during the performing the calibration action by the user, including:

Obtaining, by the magnetometer, third magnetic force data respectively collected when the terminal is placed in the first position and in the second position; wherein the third magnetic force data is based on a relative coordinate of the magnetometer The magnetic data in the z-axis direction.
The calibration method according to claim 4, wherein the calibrating the magnetometer according to the magnetic force data comprises:

Determining an average value of the two third magnetic force data as third interference data;

The magnetometer is calibrated based on the third disturbance data.
The calibration method according to any one of claims 1 to 5, wherein the method further comprises:

Monitoring whether the calibration action is in a deviation state during the user performing the calibration action;

If it is detected that the calibration action is in a deviation state, the third prompt information is output, and the third prompt information is used to prompt the user that the calibration action is in a deviation state.
The calibration method according to claim 6, wherein the method further comprises:

If it is detected that the calibration action is in a deviation state, determining motion adjustment information corresponding to the deviation state;

The action adjustment information is output to prompt the user to adjust the calibration action according to the action adjustment information.
A terminal, comprising:

Magnetometer

Memory;

a processor coupled to the memory;

Wherein the memory is used to store computer instructions;

The processor is configured to invoke the computer instructions to perform the following methods:

When the condition for calibrating the magnetometer is satisfied, the prompt information is output, and the prompt information is used to prompt the user to perform the calibration action of the magnetometer on the terminal;

Obtaining magnetic data collected by the magnetometer during the user performing the calibration action;

The magnetometer is calibrated based on the magnetic force data.
The terminal according to claim 8, wherein the processor is further configured to invoke the computer instruction to perform the following method:

And outputting the first prompt information, the first prompt information is used to prompt the user to perform the first calibration action; wherein the first calibration action comprises horizontally rotating the terminal, and the rotation angle is greater than or equal to 360 degrees;

Obtaining, by the magnetometer, I first magnetic data collected during a process of the user performing the first calibration action, wherein the first magnetic force data is an x-axis direction in a relative coordinate system based on the magnetometer Magnetic data, I is a positive integer;

Obtaining J second magnetic data collected by the magnetometer during the performing of the first calibration action by the user, wherein the second magnetic force data is based on a y-axis direction in a relative coordinate system of the magnetometer Magnetic data, J is a positive integer.
The terminal according to claim 9, wherein the processor is further configured to invoke the computer instruction to perform the following method:

Determining, according to the first first magnetic data, first interference data;

Determining second interference data according to the J second magnetic force data;

Calibrating the magnetometer based on the first interference data and the second interference data.
The terminal according to claim 8, wherein the processor is further configured to invoke the computer instruction to perform the following method:

And outputting second prompt information, where the second prompt information is used to prompt the user to perform the second calibration action;

Wherein the second calibration action comprises moving the terminal to a first position vertically upward and a second position moving vertically downward;

Obtaining, by the magnetometer, third magnetic force data respectively collected when the terminal is placed in the first position and in the second position; wherein the third magnetic force data is based on a relative coordinate of the magnetometer The magnetic data in the z-axis direction.
The terminal according to claim 11, wherein the processor calibrates the magnetometer according to the magnetic force data, including:

Determining an average value of the two third magnetic force data as third interference data;

The magnetometer is calibrated based on the third disturbance data.
The terminal according to any one of claims 8 to 12, wherein the processor is further configured to invoke the computer instruction to perform the following method:

Monitoring whether the calibration action is in a deviation state when the user performs the calibration action;

If it is detected that the calibration action is in a deviation state, the third prompt information is output, and the third prompt information is used to prompt the user that the calibration action is in a deviation state.
The terminal according to claim 13, wherein the processor is further configured to invoke the computer instruction to perform the following method:

If it is detected that the calibration action is in a deviation state, determining motion adjustment information corresponding to the deviation state;

The action adjustment information is output to prompt the user to adjust the calibration action according to the action adjustment information.
A terminal, comprising: an input unit, a processing unit and an output unit;

The output unit is configured to output prompt information when the condition for calibrating the magnetometer is satisfied, where the prompt information is used to prompt the user to perform a calibration action of the magnetometer on the terminal;

The input unit is configured to acquire magnetic data collected by the magnetometer during the user performing the calibration action;

The processing unit is configured to calibrate the magnetometer according to the magnetic force data.
A computer readable storage medium, comprising computer instructions for being executed by a processor to implement the method of any one of claims 1 to 7.