CN105988140A - Electronic device having geomagnetic sensor and acceleration sensor - Google Patents
Electronic device having geomagnetic sensor and acceleration sensor Download PDFInfo
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- CN105988140A CN105988140A CN201610112252.2A CN201610112252A CN105988140A CN 105988140 A CN105988140 A CN 105988140A CN 201610112252 A CN201610112252 A CN 201610112252A CN 105988140 A CN105988140 A CN 105988140A
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- 230000001133 acceleration Effects 0.000 title claims abstract description 81
- 238000001514 detection method Methods 0.000 claims abstract description 124
- 230000005484 gravity Effects 0.000 claims abstract description 27
- 230000005291 magnetic effect Effects 0.000 claims description 40
- 230000003068 static effect Effects 0.000 claims description 23
- 238000012545 processing Methods 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 4
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 abstract description 8
- 238000004364 calculation method Methods 0.000 description 18
- 238000012360 testing method Methods 0.000 description 18
- 230000005389 magnetism Effects 0.000 description 17
- 230000009471 action Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 9
- 101001139126 Homo sapiens Krueppel-like factor 6 Proteins 0.000 description 8
- 230000008859 change Effects 0.000 description 8
- 230000000284 resting effect Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000000052 comparative effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005290 antiferromagnetic effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009987 spinning Methods 0.000 description 3
- 208000034699 Vitreous floaters Diseases 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 101000661807 Homo sapiens Suppressor of tumorigenicity 14 protein Proteins 0.000 description 1
- 229910017709 Ni Co Inorganic materials 0.000 description 1
- 229910003267 Ni-Co Inorganic materials 0.000 description 1
- 229910003271 Ni-Fe Inorganic materials 0.000 description 1
- 229910003262 Ni‐Co Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005111 flow chemistry technique Methods 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001144 postural effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/09—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by piezoelectric pick-up
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Abstract
Provided is an electronic device capable of detecting orientation and angular velocity and preventing generation of orientation and angular velocity detection noise in a stationary state of the device by being provided with a geomagnetic sensor and an acceleration sensor. If a nonuniform standard deviation output by the detection of the acceleration sensor does not exceed a threshold in the ST5, it is determined in the ST6 whether rotation about a rotating shaft facing the direction of gravity is performed. If not, transferring to ST7 is performed and the detection output from the geomagnetic sensor is not updated. In this case, even if angular velocity operation is performed in ST13, generation of detection noise like the operation of thelectronic device in the stationary state can be prevented.
Description
Technical field
The present invention relates to be equipped with the electronic equipment of geomagnetic sensor and acceleration transducer, particularly to
The electronic equipment detecting effect of noise when equipment is resting state can be reduced.
Background technology
In the electronic equipment of portable use etc., the posture in order to detect in use is had to be equipped with earth magnetism sensing
Device and the equipment of acceleration transducer.In this electronic equipment, by detecting with acceleration transducer
Gravity direction is while obtaining the detection output of geomagnetic sensor, it is possible to learn the equipment on the basis of orientation
Posture, the acceleration of motion of equipment.
But, geomagnetic sensor is the sensor for detecting faint earth magnetism, so easily producing inspection
Survey noise, the most easily produce noise further according to external environment condition.Therefore such situation is had, it may be assumed that
Although electronic equipment is in the posture of stopping, also due to detect noise and obtain the posture as equipment
Changing such detection output.
Therefore, in the following electronic equipment described in patent documentation 1, according to from acceleration sensing
The detection output of device is judged as when equipment stops, it is possible to being controlled to ignore from geomagnetic sensor
Detection output.
Patent documentation 1:WO2012/066850 public table publication again
But, export according only to the detection carrying out acceleration sensor, it is impossible to be correctly detected electronics and set
For whether remaining static.
Such as, when electronic equipment pivots about action with the axle towards gravity direction, owing to coming
The detection output of acceleration sensor does not changes thus can be judged as that equipment is static.In the case of Gai, to the greatest extent
Tube apparatus moves, and can become the detection output from geomagnetic sensor and be ignored such misoperation
State.
Summary of the invention
The present invention is for solving above-mentioned conventional problem, it is therefore intended that providing a kind of electronic equipment, it makes
Output with the both sides of the detection output from geomagnetic sensor and acceleration transducer, it is possible to be difficult to
Posture and the action of equipment is detected by the state of effect of noise.
The electronic equipment of the present invention, is equipped with: geomagnetic sensor, detects orthogonal 3 axial
Magnetic field components；Acceleration transducer, detects the axial acceleration in orthogonal 3；And control portion,
It is transfused to the detection output of above-mentioned geomagnetic sensor and the detection output of above-mentioned acceleration transducer.Above-mentioned
Electronic equipment is characterised by, in above-mentioned control portion, when according to from above-mentioned acceleration transducer
Detection output is judged as when equipment remains static, and does not update the detection from above-mentioned geomagnetic sensor
Output；When being judged as that equipment remains static according to the detection output from above-mentioned geomagnetic sensor,
Do not update the detection from above-mentioned acceleration transducer to export.
The electronic equipment of the present invention, when according to the one party in acceleration transducer and geomagnetic sensor
When detection output is judged as YES the resting state of equipment, the output of the opposing party is not updated, thus equipment
Posture detection be difficult to by effect of noise.
The electronic equipment of the present invention, it is preferred that when according to the detection from above-mentioned acceleration transducer
Output is judged as that equipment remains static and is judged as not with the rotary shaft towards gravity direction
When pivoting about, the detection from above-mentioned geomagnetic sensor is not exported and update.
Moreover it is preferred that be judged as equipment when exporting according to the detection from above-mentioned geomagnetic sensor
Remain static and be judged as not pivoting about with the rotary shaft towards magnetic direction
Time, the detection from above-mentioned acceleration transducer is not exported and update.
The electronic equipment of the present invention, it is preferred that when the detection from above-mentioned acceleration transducer exports
Inequality be not above regulation threshold value time, it is judged that remain static for equipment.
Moreover it is preferred that when the inequality of the detection output from above-mentioned geomagnetic sensor is not above
During the threshold value specified, it is judged that remain static for equipment.
The electronic equipment of the present invention, exports and from above-mentioned according to the detection from above-mentioned geomagnetic sensor
The detection output of acceleration transducer calculates angular velocity.
Or, export and from above-mentioned acceleration transducer according to the detection from above-mentioned geomagnetic sensor
Detection output computer azimuth.
The electronic equipment of the present invention, it is possible to be configured to, is provided with according to the inspection from above-mentioned geomagnetic sensor
Survey output and the image processing part of the detection output control display picture from above-mentioned acceleration transducer.
In the present invention, when the detection according to the one party in acceleration transducer and geomagnetic sensor exports
It is judged as when equipment remains static, by making not by the output renewal of the opposing party such that it is able to
Prevent under the effect of noise of detection output, showing the misoperations such as state when equipment is halted state.
Even if additionally, when the rotary shaft of equipment is towards gravity direction or above-mentioned rotary shaft is towards earth magnetism
Direction time, it is also possible to prevent misoperation.
Accompanying drawing explanation
Fig. 1 is an example of the electronic equipment as embodiments of the present invention and represents that portable information is eventually
The axonometric chart of the outward appearance of end.
Fig. 2 is the block diagram of the outline of the structure of the electronic equipment representing embodiments of the present invention.
Fig. 3 is the action specification figure of geomagnetic sensor.
Fig. 4 is the explanatory diagram of the action of the postural change representing detection equipment.
Fig. 5 is the flow chart of the action representing embodiments of the present invention.
Fig. 6 is by defeated to the detection output of the electronic equipment of embodiments of the present invention and the detection of comparative example
Go out the line chart compared.
Detailed description of the invention
The electronic equipment 1 of the embodiments of the present invention shown in Fig. 1 is portable information terminal, by with
Make portable phone, game device or guider etc..Electronic equipment 1 possesses framework 2 and is positioned at its table
The display picture 3 in face.In the inside of framework 2, it is provided with color liquid crystal together with various electronic circuits and shows
Showing the display floaters such as panel 4 (with reference to Fig. 2), its display image is presented in display picture 3.Additionally,
The touch panel of the light transmission of electrostatic capacitive etc. it is provided with, by touching with finger etc. at display picture 3
Show that picture 3 realizes the operation of equipment.Additionally, possess speaker and mike etc. in framework 2.
In Fig. 1, the reference axis x-axis of electronic equipment 1 and y-axis and z-axis represent.Z-axis is set as
With the vertical direction of display picture 3, x-axis is parallel with showing picture 3 and is set as the width side of framework 2
Parallel with display picture 3 to, y-axis and be set as the length direction of framework 2.The benchmark of x-y-z is sat
Define on the basis of being marked with the somewhere of framework 2 its towards.
In Fig. 1, it is shown that world coordinates Xg-Yg-Zg.World coordinates is and the appearance of electronic equipment 1
Gesture is independently defined, and Zg axle is the direction of the acceleration of gravity, and Xg-Yg plane is and gravity
The orthogonal horizontal plane in the direction of acceleration.
As in figure 2 it is shown, the inside of the framework 2 at electronic equipment 1, it is accommodated with geomagnetic sensor 11 He
Acceleration transducer 12.
Geomagnetic sensor 11 has x-axis sensor 11x and y-axis sensor 11y and z-axis sensor
11z.As it is shown in figure 1, framework 2 is predetermined reference coordinate x-y-z, when electronic equipment 1
When framework 2 is moved in three dimensions, following this motion, reference coordinate x-y-z is at world coordinates
Motion in Xg-Yg-Zg.
As it is shown on figure 3, x-axis sensor 11x is consolidated along the x-axis of said reference coordinate x-y-z
Fixed, y-axis sensor 11y is fixed along y-axis, and z-axis sensor 11z is fixed along z-axis.
X-axis sensor 11x and y-axis sensor 11y and z-axis sensor 11z is constituted by GMR element.
GMR element has the fixed magnetic formed by soft magnetic materials such as Ni-Co alloy or Ni-Fe alloys
Layer and free magnetic layer and the non magnetic of copper etc. being clipped between fixed magnetic layer and free magnetic layer are led
Electric layer.Stacking antiferromagnetic layer under fixed magnetic layer, by antiferromagnetic layer and fixed magnetic layer
Antiferromagnetic coupling, the magnetization of fixed magnetic layer is fixed.
As it is shown on figure 3, the magnetized direction of the fixed magnetic layer of x-axis sensor 11x be fixed to along
The Px direction of the x-axis of reference coordinate.The magnetized direction of free magnetic layer should with the in opposite direction of earth magnetism.
When the magnetized direction of free magnetic layer is parallel with Px direction, the resistance value of x-axis sensor 11x is minimum,
When the magnetized direction of free magnetic layer is reverse with Px direction, the resistance value of x-axis sensor 11x is very big.
During additionally, the magnetized direction of free magnetic layer is orthogonal with Px direction, resistance value be above-mentioned maximum and
Minimizing intermediate value.
As in figure 2 it is shown, in the inside of framework 2, be provided with geomagnetism detecting portion 13.In geomagnetism detecting portion 13,
It is provided with the bridge circuit comprising x-axis sensor 11x, this bridge circuit is applied voltage.X-axis is made to pass
The magnetized fixed-direction Px of the fixed magnetic layer of sensor 11x is the direction identical with ground magnetic vector V
Time, the magnetic field components (Japanese original text: magnetic circle composition) providing x-axis sensor 11x becomes very big
Value.Now the resistance value of x-axis sensor 11x becomes minimum, makes fixing of x-axis sensor 11x
When magnetospheric magnetized fixed-direction Px is the direction contrary with ground magnetic vector V, x-axis sensor 11x
Resistance value become maximum.Thus, the detection output of the bridge circuit of x-axis sensor 11x is comprised
Change.
Y-axis sensor 11y and z-axis sensor 11z is also separately contained in bridge circuit.Y-axis is made to pass
The magnetized fixed-direction Py of the fixed magnetic layer of sensor 11y is the direction identical with ground magnetic vector V
Time, the resistance value of y-axis sensor 11y becomes minimum, makes the fixed magnetic layer of y-axis sensor 11y
Magnetized fixed-direction Py when being with the contrary direction of magnetic vector V, ground, the electricity of y-axis sensor 11y
Resistance becomes maximum, comprises the detection exporting change of the bridge circuit of y-axis sensor 11.This for
Z-axis sensor 11z is also same.
As x-axis sensor 11x, y-axis sensor 11y, z-axis sensor 11z, base area magnetic vector
Direction obtain positive side detection output and minus side detection output, if positive side detection output
In the maximum of the detection output of maximum and minus side, absolute value is identical, then can also with GMR element with
Outer Magnetic Sensor is constituted.For example, it is also possible to the magnetic field intensity detecting positive side will be only capable of along each axle
Hall element or MR element and be only capable of the Hall element of magnetic field intensity or the MR of detection minus side
Element is applied in combination.
Acceleration transducer 12 has x-axis test section 12x and y-axis test section 12y and z-axis detection
Portion 12z.Each test section is by quality and the variant part of bearing mass and the deformation detecting this variant part
Piezoelectric elements etc. are constituted.
X-axis test section 12x is arranged towards the x-axis of reference coordinate x-y-z shown in Fig. 1 and Fig. 3,
When the positive side of x-axis is towards gravity direction, the deflection of variant part becomes very big, x-axis test section 12x's
Detection is output into the maximum of positive side.When the minus side of x-axis is towards gravity direction, x-axis test section 12x
Detection be output into the maximum of minus side.
Y-axis test section 12y is arranged towards y-axis, when the positive side of y-axis is towards gravity direction, variant part
Deflection becomes very big, and the detection of y-axis test section 12y is output into the maximum of positive side.Bearing of y-axis
When side is towards gravity direction, the detection of y-axis test section 12y is output into the maximum of minus side.
Z-axis test section 12z is arranged towards z-axis, when the positive side of z-axis is towards gravity direction, variant part
Deflection becomes very big, and the detection of z-axis test section 12z is output into the maximum of positive side.Bearing of z-axis
When side is towards gravity direction, the detection of z-axis test section 12z is output into the maximum of minus side.
The detection output of x-axis test section 12x and y-axis test section 12y and z-axis test section 12z is added
Speed detecting portion 14 takes out.
As in figure 2 it is shown, be provided with control portion 15 in the inside of framework 2.Control portion 15 is converted by A/D
Portion, CPU, clock circuit and buffer storage etc. are constituted.In control portion 15, according to clock circuit
The measurement time, the x-axis of the geomagnetic sensor 11 detected by geomagnetism detecting portion 13 and y-axis and z
The detection output of axle is sampled off and on the shorter cycle and is read.Each detection output is controlled
The above-mentioned A/D transformation component arranged in portion 15 is transformed to digital value.Additionally, acceleration detecting section 14
The detection of the x-axis of detected acceleration transducer 12 and the acceleration of y-axis and z-axis exports also
It is sampled off and on the shorter cycle and is read out to control portion 15.Each detection output is by control portion
The above-mentioned A/D transformation component arranged in 15 is transformed to digital value.
The sampling period recalling detection output from geomagnetism detecting portion 13 recalls with from acceleration detecting section 14
The sampling period of detection output is consistent.
The CPU constituting control portion 15 is connected with memorizer 16.In the memory 16, for computing
The software processed is programmed and is saved.The calculation process in control portion 15 is performed by above-mentioned software.
The x-axis of the acceleration transducer 12 recalled from geomagnetism detecting portion 13 and y-axis and the inspection of z-axis
Survey output to be converted and by computing in control portion 15 by A/D, obtain in reference coordinate x-y-z
Acceleration becomes maximum direction, is estimated as the direction that the direction is the acceleration G of gravity.Fig. 4 institute
In the example shown, the direction of the acceleration G of the gravity detected is negative relative to the z-axis of reference coordinate
Direction tilts with angle φ.
Additionally, the x-axis of the geomagnetic sensor 11 recalled from geomagnetism detecting portion 13 and y-axis and z-axis
Detection output converted and by computing in control portion 15 by A/D, in reference coordinate x-y-z
Obtain the direction that magnetic force becomes maximum.It is estimated as the direction that the direction is earth magnetism N.In the example of Fig. 4,
There is magnetic dip angle α in the direction of the earth magnetism N detected, relative to y relative to the x-y mask of reference coordinate
The positive direction of axle has magnetic biasing angle beta.
In control portion 15, in computing orientation on the basis of reference coordinate x-y-z i.e. from electronic equipment
During the orientation that 1 observes, the direction of reference coordinate is modified, so that the benchmark setting framework 2 is sat
The negative direction of the z-axis of mark x-y-z is consistent with the direction of the acceleration G of gravity.At revised seat
Mark calculates the direction magnetic dip angle α relative to x-y plane of earth magnetism N, additionally, at revised seat
In mark, about the direction of projection earth magnetism on the x-y plane, obtain such as relative to the pros of x-axis
To magnetic biasing angle beta.
By learning magnetic dip angle and magnetic declination relative to revised coordinate axes, it is possible to learn electronic equipment 1
Relative to the orientation in world coordinates Xg-Yg-Zg towards.
Additionally, export according to the detection of the geomagnetic sensor 11 obtained from geomagnetism detecting portion 13 and from
The detection output of the acceleration transducer 12 that acceleration detecting section 14 obtains, it is possible to calculate and make electronics set
Angular velocity during standby 1 motion.
As shown in Figure 4, obtain the acceleration G's of gravity according to the detection output of acceleration transducer 12
Direction, obtains the angle of pitch (pitch angle) φ in the z-axis direction relative to acceleration of gravity G, logical
Cross the variable quantity differential in time of this angle of pitch φ such that it is able to calculate and electronic equipment 1 will be set
The angular velocity on direction that fixed z-axis was fallen.
Additionally, export according to the detection from geomagnetic sensor 11, it is possible to obtain y-axis relative to earth magnetism
The roll angle that inclines (roll angle) β in the direction of N.By by the most micro-for the variable quantity of this roll angle β that inclines
Point such that it is able to obtain electronic equipment 1 with z-axis for rotary shaft carry out action time angular velocity.Additionally,
Similarly, additionally it is possible to export according to the detection from geomagnetic sensor 11, obtain the rotation around y-axis to move
Work and the angular velocity of the spinning movement around x-axis.
As in figure 2 it is shown, be provided with image processing part 17 in the inside of electronic equipment 1, from image processing part
17 send signal of video signal to display floater 4, by various information on the display picture 3 of electronic equipment 1
Show as image.When the program of record carries out navigation action in by memorizer 16, according to side
The reception result of the GPS system of equipment in the value of calculation of position and framework 2, calculates working as of electronic equipment 1
Front position, additionally, according to the value of calculation of angular velocity, carry out and the rotation of electronic equipment 1 on map
The display that amount is corresponding.
Additionally, when performing the program as game device, according to the value of calculation of angular velocity, show picture
Game information shown on face 3 changes.
And then, it is accommodated with battery 18 in the inside of the framework 2 of electronic equipment 1, and is provided with power circuit
19。
Here, geomagnetic sensor 11 easily produces sensor noise and circuit noise, wants due also to outside
Thus have the situation of noise on noise in detection output.Additionally, due also to be subject in tunnel (tunnel)
The situation producing above-mentioned noise is there is to the magnetic influence sent from mineral etc..Equally, acceleration sensing
Device 12 easily produces the noise of detection output offset etc. also according to ambient temperature etc..Such as, travelling
In automobile in use time, be easily subject to vehicle rotation, bring to a halt or walk rapidly into etc. impact.
As a result, even if when electronic equipment 1 is totally stationary, control portion 15 also due to above-mentioned noise and sentence
Break and change for orientation, or error detection is for creating angular velocity, although thus generation is static shape
State, the phenomenon that the image of display also moves or waves on display picture 3.
Therefore, control portion 15 carries out the flow processing shown in Fig. 5, does not updates when resting state
Detection output so that display image is not brought impact by noise.
In flow process shown in Fig. 5, in ST1 (step 1), by control portion 15, when being used for showing
When the program of the guider of diagram picture or game device etc. starts, from geomagnetism detecting portion 13 in ST2
Extract the detection output of geomagnetic sensor 11, and be updated in the buffer storage in control portion 15.
In ST3, read the detection output of acceleration transducer 12 from acceleration detecting section 14, and substitute into
In buffer storage.The acquirement of the detection output of geomagnetic sensor 11 and acceleration transducer 12
The acquirement of detection output is the identical cycle, and which formerly can.
In ST4, obtain the value of calculation of the acceleration transducer 12 repeatedly obtained inequality (Japanese original text:
ば ら つ I) standard deviation, in ST5 by this standard deviation compared with the threshold value predetermined.
When standard deviation is more than threshold value, shift to ST12, and need not be according to the detection of acceleration transducer 12
Output is judged as that electronic equipment 1 remains static.In ST8, obtain the earth magnetism sensing repeatedly obtained
The uneven standard deviation of the value of calculation of device 11, by this standard deviation and the threshold predetermined in ST9
Value compares.When standard deviation is more than threshold value, shift to ST12, and without base area Magnetic Sensor
The detection output of 11 is judged as that electronic equipment 1 remains static.
In ST12, the direction of the earth magnetism N that the detection output of base area Magnetic Sensor 11 is calculated
The direction of the acceleration G of the gravity that information and the detection output according to acceleration transducer 12 calculate
The both sides of information be updated to calculate for orientation, in the algorithm of angular speed calculation.And turn to ST13
Move, according to from the detection output of geomagnetic sensor 11 with to carry out the detection of acceleration sensor 12 defeated
Go out computer azimuth, or obtain the angular velocity of the action of electronic equipment 1, control based on these value of calculation
The image of display on display picture 3.Further, to ST14 shift, return ST1, and then repeat into
Capable acquirement and the detection carrying out acceleration sensor 12 exported from the detection of geomagnetic sensor 11 is defeated
The acquirement gone out.
In ST5, when the uneven standard deviation of the detection output being judged as acceleration transducer 12 does not has
When exceeding threshold value, it is judged that the probability remained static for electronic equipment 1 is high and shifts to ST6.
In ST6, it is judged that electronic equipment 1 is the most to rotate centered by the rotary shaft of gravity direction.
Such as, in ST5, when the detection output being judged as coming acceleration sensor 12 changes hardly,
Export with reference to the detection from geomagnetic sensor 11.Export according to the detection from geomagnetic sensor 11,
It is judged as that electronic equipment 1 is with the rotation towards gravity direction (direction of the acceleration G of gravity)
During the probability height rotated centered by axle, it is judged that be not resting state for electronic equipment 1 and turn to ST12
Move.Now, in ST12, make to export preferential from the detection of geomagnetic sensor 11, or only in the future
It is updated to orientation from the detection output of geomagnetic sensor 11 calculate and in the algorithm of angular speed calculation, to
ST13 shifts.
In ST13, the output that detects from geomagnetic sensor 11 is only used to carry out calculating and the angle in orientation
The calculating of speed.Further, this result of calculation is reflected in display image.
In ST6, when being judged as that rotary shaft is not gravity direction, i.e. be judged as in ST5 from
The detection output of acceleration transducer 12 changes hardly and then is judged as not carrying out with gravity direction
During for the action of rotary shaft, it is judged that the probability remained static for electronic equipment 1 is high.Now,
Shift to ST7, do not update the detection output of geomagnetic sensor 11, the data before tight are obtained the cycle
The detection output from geomagnetic sensor 11 of middle acquirement is updated to orientation and calculates and the calculation of angular speed calculation
In method and proceed to ST13.In the case of Gai, will not owing to exporting from the detection of geomagnetic sensor 11
Being updated, so orientation will not change and the value of calculation of angular velocity is zero.
Thus, on display picture 3, the image of display is halted state, as long as electronic equipment 1 is in
Stationary position, it becomes possible to prevent from showing image motion or swing.
In ST9, when the uneven standard deviation of the detection output being judged as geomagnetic sensor 11 does not surpass
When crossing threshold value, it is judged that the probability remained static for electronic equipment 1 is high and shifts to ST10.
In ST10, it is judged that electronic equipment 1 the most rotates centered by the rotary shaft towards earth magnetism N.Example
As, in ST9, when being judged as changing hardly from the detection output of geomagnetic sensor 11, reference
Carry out the detection output of acceleration sensor 12.Detection according to carrying out acceleration sensor 12 exports,
When being judged as the probability height that electronic equipment 1 is rotating centered by the rotary shaft towards earth magnetism N,
It is judged as that electronic equipment 1 is not resting state and shifts to ST12.In ST12, make self-acceleration
The detection output of sensor 12 is preferential, and the detection output of acceleration sensor 12 only in the future is updated to
Orientation calculates and in the algorithm calculating angular velocity, shifts to ST13.
In ST13, only use come acceleration sensor 12 detection output carry out orientation calculating and
The calculating of angular velocity.Further, this result of calculation is reflected in display image.
In ST10, when being judged as that electronic equipment 1 is not with in the upwardly extending rotation in the side of earth magnetism N
When rotating shaft pivots about, i.e. be judged as that in ST9 the detection from geomagnetic sensor 11 is defeated
Go out change hardly and then be judged as the rotation not carried out centered by the rotary shaft towards earth magnetism N
During action, it is judged that the probability remained static for electronic equipment 1 is high.Now, turn to ST11
Move, do not update the detection output of acceleration transducer 12, will the data acquirement cycle before tight obtain
Come acceleration sensor 12 detection output be updated to orientation calculate and angular speed calculation algorithm in
And advance to ST13.In the case of Gai, will not be by owing to coming that the detection of acceleration sensor 12 exports
Update, thus orientation will not change and the value of calculation of angular velocity is zero.
Thus, on display picture 3, the image of display is halted state, as long as electronic equipment 1 is quiet
Only posture, it becomes possible to prevent from showing image motion or swing.
It addition, in the flow chart shown in Fig. 5, when electronic equipment 1 becomes resting state, have from ST5
Through ST6 to ST7 transfer, concurrently from ST9 through ST10 to ST11 transfer, the process of ST7
The situation that process with ST11 is carried out parallel.In the case of Gai, defeated from the detection of geomagnetic sensor 11
The both sides of the detection output going out and carrying out acceleration sensor 12 are not updated, aobvious on display picture 3
The image shown is able to maintain that totally stationary state.
According to this electronic equipment 1, when resting state, it is possible to prevent from showing the image of display on picture 3
Move due to noise.Additionally, electronic equipment 1 is carried out by centered by the rotary shaft of gravity direction
Spinning movement time or carry out centered by the rotary shaft towards earth magnetism N spinning movement time, it is possible to
Detected and prevent erroneous judgement for remaining static.
In Fig. 6, by the angle speed in the value of calculation of the angular velocity in embodiments of the present invention and comparative example
The value of calculation of degree compares.
In embodiment, ST5 is judged as the uneven mark of the detection output of acceleration transducer 12
Quasi-deviation is not above threshold value, is judged as that electronic equipment 1 is not with towards gravity direction in ST6
Rotary shaft pivots about, it is judged that be will for electronic equipment 1 in ST7 for halted state
The state that the detection output of geomagnetic sensor 11 updates.In comparative example, it is shown that do not carry out ST4, ST5,
The process of ST6, ST7, ST8, ST9, ST10, ST11, in ST12 all the time with from earth magnetism
The both sides of the detection output that the detection of sensor 11 exports and carrys out acceleration sensor 12 calculate angle speed
The example of degree.
The transverse axis of Fig. 6 represents the week obtaining detection output from geomagnetic sensor 11 and acceleration transducer
Phase, the value of calculation of the angular velocity around z-axis when the longitudinal axis is to make electronic equipment 1 totally stationary.Embodiment party
Formula is indicated by the solid line, and comparative example is represented by dashed line.
Fig. 6 understanding, although also calculating angular velocity for resting state in a comparative example, and implementing
In mode, the change of angular velocity is minimum.
Label declaration
1 electronic equipment
2 frameworks
3 display pictures
11 geomagnetic sensors
11x x-axis sensor
11y y-axis sensor
11z z-axis sensor
12 acceleration transducers
12x x-axis test section
12y y-axis test section
12z z-axis test section
13 geomagnetism detecting portions
14 acceleration detecting section
15 control portions
17 image processing parts
Claims (8)
1. an electronic equipment, is equipped with:
3 orthogonal axial magnetic field components are detected by geomagnetic sensor；
3 orthogonal axial acceleration are detected by acceleration transducer；And
Control portion, is transfused to detection output and the inspection of above-mentioned acceleration transducer of above-mentioned geomagnetic sensor
Survey output,
Above-mentioned electronic equipment is characterised by,
In above-mentioned control portion, when being judged as according to the detection output from above-mentioned acceleration transducer
When equipment remains static, do not update the detection from above-mentioned geomagnetic sensor and export；
When being judged as that equipment remains static according to the detection output from above-mentioned geomagnetic sensor
Time, do not update the detection from above-mentioned acceleration transducer and export.
2. electronic equipment as claimed in claim 1, it is characterised in that
When being judged as that equipment is in static shape according to the detection output from above-mentioned acceleration transducer
State and when being judged as not pivoting about with the rotary shaft towards gravity direction, the most more newly arrives
Export from the detection of above-mentioned geomagnetic sensor.
3. electronic equipment as claimed in claim 1 or 2, it is characterised in that
When according to from above-mentioned geomagnetic sensor detection export and be judged as equipment remain static,
And when being judged as not pivoting about with the rotary shaft towards magnetic direction, do not update from upper
State the detection output of acceleration transducer.
4. electronic equipment as claimed in claim 1, it is characterised in that
When the inequality of the detection output from above-mentioned acceleration transducer is not above the threshold value of regulation,
It is judged as that equipment remains static.
5. electronic equipment as claimed in claim 1, it is characterised in that
When the inequality of the detection output from above-mentioned geomagnetic sensor is not above the threshold value of regulation, sentence
Break and remain static for equipment.
6. electronic equipment as claimed in claim 1, it is characterised in that
According to from the detection output of above-mentioned geomagnetic sensor and the detection from above-mentioned acceleration transducer
Output calculates angular velocity.
7. electronic equipment as claimed in claim 1, it is characterised in that
According to from the detection output of above-mentioned geomagnetic sensor and the detection from above-mentioned acceleration transducer
Output carrys out computer azimuth.
Electronic equipment the most as claimed in claims 6 or 7, it is characterised in that
Being provided with image processing part, this image processing part exports according to the detection from above-mentioned geomagnetic sensor
Export with the detection from above-mentioned acceleration transducer and control to show picture.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| JP2015-055027 | 2015-03-18 | ||
| JP2015055027A JP6474128B2 (en) | 2015-03-18 | 2015-03-18 | Electronic equipment with geomagnetic and acceleration sensors |
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| Publication Number | Publication Date |
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| CN105988140A true CN105988140A (en) | 2016-10-05 |
| CN105988140B CN105988140B (en) | 2019-04-23 |
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| CN201610112252.2A Active CN105988140B (en) | 2015-03-18 | 2016-02-29 | Electronic equipment equipped with geomagnetic sensor and acceleration transducer |
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| CN (1) | CN105988140B (en) |
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| CN109030867A (en) * | 2017-06-08 | 2018-12-18 | 海智芯株式会社 | The method and apparatus for calculating angular speed using acceleration transducer and geomagnetic sensor |
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| CN111372028A (en) * | 2020-02-13 | 2020-07-03 | 广州视源电子科技股份有限公司 | Picture rotation control method, device, terminal and storage medium |
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Also Published As
| Publication number | Publication date |
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| JP2016176704A (en) | 2016-10-06 |
| CN105988140B (en) | 2019-04-23 |
| JP6474128B2 (en) | 2019-02-27 |
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