WO2013125242A1 - オフセット推定装置、オフセット推定方法、オフセット推定プログラムおよび情報処理装置 - Google Patents
オフセット推定装置、オフセット推定方法、オフセット推定プログラムおよび情報処理装置 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/0023—Electronic aspects, e.g. circuits for stimulation, evaluation, control; Treating the measured signals; calibration
- G01R33/0029—Treating the measured signals, e.g. removing offset or noise
Definitions
- the present invention relates to a technique for estimating an offset of magnetic data output from a magnetic sensor used for measuring an azimuth angle.
- An azimuth measuring device that measures azimuth using geomagnetism is known. Since this azimuth measuring device generally detects the magnetic field generated by a magnet at the same time as the geomagnetism, when measuring the azimuth, the signal component resulting from the magnetic field, ie, the offset, is subtracted from the detected geomagnetism to obtain the azimuth angle. ing. For example, in the azimuth angle measuring apparatus disclosed in Patent Document 1, the azimuth angle is measured using the geomagnetism detected by the three-axis magnetic sensor and the offset.
- Patent Document 1 Although an apparatus for measuring an azimuth angle using geomagnetism and offset has existed conventionally, it was measured by moving / rotating the azimuth angle measurement apparatus in a three-dimensional space. Since the offset is estimated using only the geomagnetic data, it is not possible to quickly obtain the offset by a minute movement / rotation or the like.
- a small mobile terminal such as a smartphone can be moved and rotated in a three-dimensional manner relatively easily, but since a tablet-type terminal is larger than a mobile terminal such as a smartphone, a three-dimensional It is difficult to move and rotate automatically, and it is strongly expected to realize a method that can calculate the offset value of magnetic data output by the magnetic sensor and measure the azimuth angle even with smaller movement and rotation of the terminal etc. It has become.
- an object of the present invention is to provide an offset estimation apparatus, an offset estimation method, and an information processing apparatus that can accurately estimate an offset of magnetic data output from a geomagnetic sensor.
- An offset estimation apparatus for solving the above-described problem is an offset estimation apparatus for estimating an offset of magnetic data output from a triaxial geomagnetism detection unit, and the first time magnetic data output from the geomagnetism detection unit And second time magnetic data, and rotation amount data that is data corresponding to the rotation amount of the geomagnetism detection unit in a period corresponding to the period between the first time and the second time, and On the coordinate space in which each axis component of the magnetic data output from the geomagnetism detection unit is a coordinate value, the magnetic data at the first time, the magnetic data at the second time, and the first time and the above Based on the rotation amount data for a period corresponding to the second time, the coordinate value based on the magnetic data at the first time is rotated to the coordinate value based on the magnetic data at the second time.
- a first rotation axis calculation unit that calculates an axis, magnetic data at a third time and magnetic data at a fourth time output by the geomagnetism detection unit, and the third time and the fourth time.
- the rotation amount data which is data corresponding to the rotation amount of the geomagnetism detection unit in a period corresponding to the period is acquired, and each axis component of the magnetic data output by the geomagnetism detection unit is a coordinate value
- the third time A second rotation axis calculation unit for calculating a second rotation axis when rotating a coordinate value based on the magnetic data of time to a coordinate value based on the magnetic data of the fourth time; and the first rotation axis; Based on the coordinate value where the second rotation axis and Comprises an offset estimation unit that estimates an offset of the magnetic data of the terrestrial magnetism sensor unit.
- the first rotation axis calculation unit is based on rotation amount data that is data corresponding to the rotation amount of the geomagnetism detection unit during a period corresponding to the period between the first time and the second time. , Calculating a direction vector of the first rotation axis, rotation amount data which is data corresponding to the rotation amount of the geomagnetism detection unit in a period corresponding to the period between the first time and the second time; Based on the magnetic data at the first time and the magnetic data at the second time, a coordinate value on the first rotation axis is calculated, and the direction vector of the first rotation axis and the first rotation are calculated.
- the first rotation axis may be calculated based on the coordinate value on the axis.
- the first rotation axis calculation unit includes the magnetic data at the first time, the magnetic data at the second time, and the magnetic data at the fifth time, and the first time and the second time.
- Rotation amount data which is data corresponding to the rotation amount of the geomagnetism detection unit during a period corresponding to, and the rotation amount of the geomagnetism detection unit during a period corresponding to between the second time and the fifth time
- calculating at least two or more coordinate values on the first rotation axis based on the rotation amount data that is data corresponding to the at least two or more coordinate values on the first rotation axis. Based on this, the first rotation axis may be calculated.
- the second rotation axis calculation unit is based on rotation amount data that is data corresponding to the rotation amount of the geomagnetism detection unit during a period corresponding to the period between the third time and the fourth time.
- the coordinate value on the second rotation axis is calculated on the basis of the magnetic data at the time and the magnetic data at the fourth time, and the direction vector of the second rotation axis and the second rotation axis are calculated.
- the second rotation axis may be calculated based on the coordinate value.
- the second rotation axis calculation unit includes the magnetic data at the third time, the magnetic data at the fourth time, the magnetic data at the sixth time, and the interval between the third time and the fourth time.
- Rotation amount data which is data corresponding to the rotation amount of the geomagnetism detection unit during a period corresponding to, and the rotation amount of the geomagnetism detection unit during a period corresponding to between the fourth time and the sixth time.
- at least two or more coordinate values on the second rotation axis based on the rotation amount data which is the data, and on the basis of the at least two or more coordinate values on the second rotation axis.
- the second rotation axis may be calculated.
- the first rotation axis calculation unit includes a first direction cosine matrix corresponding to the first time, a direction cosine matrix corresponding to a time before the first time, and a time before the first time. And the second direction cosine matrix corresponding to the second time before the first time is calculated based on the rotation amount data of the geomagnetism detection unit in a period corresponding to between the first time and the first time. The first direction cosine is calculated based on the direction cosine matrix corresponding to the time, and the rotation amount data of the geomagnetism detection unit during the period corresponding to the time before the first time and the second time.
- a first difference direction cosine matrix corresponding to the amount of rotation of the geomagnetism detector in a period corresponding to the period between the first time and the second time is obtained.
- Calculate the first difference direction cosine matrix and the first difference direction cosine row Based on the transpose matrix and the first magnetic data and the second magnetic data, the coordinate value on the first rotation axis is calculated, and the second rotation axis calculation unit is configured to calculate the third rotation axis.
- the third direction cosine matrix corresponding to the time is the direction cosine matrix corresponding to the time before the first time, and the period corresponding to the time between the time before the first time and the third time.
- the fourth direction cosine matrix corresponding to the fourth time is calculated based on the rotation amount data of the geomagnetism detection unit, the direction cosine matrix corresponding to the time before the first time, and the first time. Calculated based on the rotation amount data of the geomagnetism detection unit in a period corresponding to between the previous time and the fourth time, and based on the third direction cosine matrix and the fourth direction cosine matrix, The geomagnetism in a period corresponding to the third time and the fourth time A second difference direction cosine matrix corresponding to the rotation amount of the detection unit is calculated, the second difference direction cosine matrix, the transposed matrix of the second difference direction cosine matrix, the third magnetic data, and the first The coordinate value on the second rotation axis may be calculated based on the magnetic data 4.
- the direction vector of the first rotation axis may be calculated based on the first differential direction cosine matrix.
- the direction vector of the second rotation axis may be calculated based on the second difference direction cosine matrix.
- the first rotation axis calculation unit includes a first direction cosine matrix corresponding to the first time, a direction cosine matrix corresponding to a time before the first time, and a time before the first time. And the second direction cosine matrix corresponding to the second time before the first time is calculated based on the rotation amount data of the geomagnetism detection unit in a period corresponding to between the first time and the first time.
- Corresponding fifth direction cosine matrix is the direction cosine matrix corresponding to the time before the first time, and the geomagnetic detection in the period corresponding to the time before the first time and the fifth time.
- a cosine matrix is calculated, and based on the second direction cosine matrix and the fifth direction cosine matrix, rotation of the geomagnetism detection unit during a period corresponding to the period between the second time and the fifth time.
- a third difference direction cosine matrix corresponding to the amount is calculated, and based on the first difference direction cosine matrix, the geomagnetism detection unit of the period corresponding to the period between the first time and the second time is calculated.
- the first rotation angle corresponding to the rotation amount of the geomagnetism detection unit is calculated, and the period corresponding to the period between the second time and the fifth time is calculated based on the third difference direction cosine matrix.
- a second rotation angle corresponding to the rotation amount of the geomagnetism detection unit is calculated, and the first rotation is calculated.
- the coordinate value on the first rotation axis is calculated based on the angle, the second rotation angle, the first magnetic data, the second magnetic data, and the fifth magnetic data. Also good.
- the second rotation axis calculation unit includes a third direction cosine matrix corresponding to the third time, a direction cosine matrix corresponding to a time before the first time, and a time before the first time. And the fourth direction cosine matrix corresponding to the fourth time before the first time is calculated based on the rotation amount data of the geomagnetism detection unit in a period corresponding to between the first time and the third time.
- Corresponding sixth direction cosine matrix is the direction cosine matrix corresponding to the time before the first time, and the geomagnetic detection in the period corresponding to the time before the first time and the sixth time.
- the third direction cosine matrix, and Based on the fourth direction cosine matrix, a second difference direction cosine matrix corresponding to the rotation amount of the geomagnetism detection unit during a period corresponding to the period between the third time and the fourth time is calculated.
- the rotation amount data may be based on angle data, angular velocity data, and angular acceleration data.
- the offset estimation method for solving the above-described problems includes a first time magnetic data and a second time magnetic data output from the geomagnetism detection unit, and the first time and the second time.
- the first time A first rotation axis calculation step for calculating a first rotation axis when rotating the coordinate value based on the magnetic data of time to the coordinate value based on the magnetic data of the second time, and the geomagnetism detection unit outputs Magnetic data at the third time And the magnetic data at the fourth time, and the rotation amount data that is the data corresponding to the rotation amount of the geomagnetism detection unit in the period
- the offset of the magnetic data of the geomagnetism detection unit is calculated.
- An offset estimation program for solving the above-described problem is an offset estimation program for causing a computer to estimate an offset of magnetic data output from a triaxial geomagnetism detection unit, and the geomagnetism detection unit outputs to a computer.
- a coordinate value based on the magnetic data at the first time is determined as the second time.
- calculating the first rotation axis when rotating to the coordinate value based on the magnetic data, and outputting the third time magnetic data and the fourth time magnetic data output from the geomagnetism detection unit, and the third time Rotation amount data that is data corresponding to the rotation amount of the geomagnetism detection unit in a period corresponding to between the time and the fourth time is acquired, and each axis component of the magnetic data output by the geomagnetism detection unit is coordinated In the coordinate space as a value, the magnetic data of the third time and the magnetic data of the fourth time, and the rotation amount data of a period corresponding to the period between the third time and the fourth time
- the second rotation axis when rotating the coordinate value based on the magnetic data at the third time to the coordinate value based on the magnetic data at the fourth time is calculated based on the first rotation axis, Coordinates where
- An information processing apparatus for solving the above problems includes the offset estimation device, a geomagnetism detection unit, and an angular velocity detection unit.
- FIG. 1 is a diagram illustrating an example of an overall schematic configuration of a physical quantity measurement system according to an embodiment of the present invention. It is a block diagram which shows an example of the function of an offset estimation apparatus. It is a flowchart which shows an example of the operation
- the physical quantity measurement system 100 is mounted on a mobile device such as a mobile phone, a PDA (Personal Digital Assistant), a tablet terminal, and the like. This is a system for estimating an offset and measuring the azimuth angle.
- FIG. 1 is a diagram showing an example of the overall schematic configuration of the physical quantity measurement system 100. As shown in FIG. 1
- the physical quantity measurement system 100 includes a physical quantity measurement device (azimuth angle measurement device) 10 and a calculation unit 200.
- the physical quantity measuring device 10 includes a magnetic sensor (geomagnetic detection unit) 20, a rotation amount sensor (rotation amount detection unit) 21, a data acquisition unit 30, and an offset estimation device 40.
- the magnetic sensor 20 detects geomagnetism.
- geomagnetism for example, a case of a magnetic sensor that detects three-component geomagnetism composed of an X-axis direction, a Y-axis direction, and a Z-axis direction will be described. Good.
- the rotation amount sensor 21 may be any device that can detect the rotation amount and output the rotation amount data.
- the rotation amount may be an angle, angular velocity, angular acceleration, and the like, and the rotation amount data may be angle data, angular velocity data, angular acceleration data, and the like.
- the type of the rotation amount sensor is not particularly limited, and may be an angle sensor or an acceleration sensor. Further, since it is possible to calculate the rotation amount using information from a magnetic sensor that detects a known external magnetic field, a magnetic sensor may be used as the rotation amount sensor. Moreover, you may use the apparatus which emits a signal when carrying out predetermined rotation as a rotation amount sensor. In this embodiment, an angular velocity sensor is used as the rotation amount sensor.
- the data acquisition unit 30 repeatedly acquires the geomagnetic data detected by the magnetic sensor 20 and the angular velocity data detected by the angular velocity sensor 21, thereby a vector physical quantity data group composed of a plurality of geomagnetic data and a plurality of angular velocity data. Are acquired as a digital signal or an analog signal.
- the data acquisition unit 30 of this embodiment performs amplification processing, filtering processing, and A / D conversion processing and outputs the result to the offset estimation device 40. You may make it output as an analog signal, without performing a process.
- the data acquisition unit 30 may perform filter processing such as averaging processing after the A / D conversion processing.
- the data acquisition unit 30 may perform a desired digital signal process, for example, a filter process such as an averaging process.
- the offset estimation device 40 calculates DCM (Direction Cosine Matrix) data and various angle data (yaw angle, roll angle, and pitch angle) from the vector physical quantity data group described above.
- DCM Direct Cosine Matrix
- various angle data yaw angle, roll angle, and pitch angle
- the vector physical quantity data group, DCM data, and various angle data are stored in a memory in the offset estimation device 40.
- the offset estimation device 40 calculates a rotation axis direction vector, which will be described later, and rotation axis information, which will be described later, using the stored DCM data group, various angle data groups, and vector physical quantity data group.
- the offset estimation device 40 estimates a reference point included in the vector physical quantity data group from the calculated rotation axis information group, and estimates a highly reliable reference point as an offset from the plurality of estimated reference points. To do.
- the calculation unit 200 calculates information necessary for the system from the vector physical quantity data group acquired by the physical quantity measuring device 10 and the estimated offset.
- FIG. 2 is a diagram illustrating a configuration example of the offset estimation device 40.
- the offset estimation device 40 includes a distribution unit 41, a DCM calculation unit 42, various angle calculation units 43, a data selection unit 44, a rotation axis calculation unit 45, a reference point estimation unit 46, and a reliability determination unit 47. And a parameter management unit 48.
- the distribution unit 41 acquires the vector physical quantity data group D1 from the data acquisition unit 30, and distributes the vector physical quantity data group D1 for each type according to the processing content of the subsequent stage.
- the distribution unit 41 outputs the vector physical quantity data group D1 to the DCM calculation unit 42, various angle calculation units 43, and the data selection unit 44, respectively.
- the DCM calculation unit 42 calculates DCM data R1 from the input vector physical quantity data group.
- the various angle calculation unit 43 calculates various angle data (yaw angle, roll angle, pitch angle) A1 from the DCM data R1 output from the DCM calculation unit 42.
- the data selection unit 44 includes a vector physical quantity data group D1 from the distribution unit 41, DCM data R1 from the DCM calculation unit 42, and various angle data (yaw angle, roll angle, pitch angle) from the various angle calculation unit 43.
- A1 is input and stored in a memory, for example.
- the data selection unit 44 sets the parameter management unit 48 for the vector physical quantity data group D1, DCM data group R1, and various angle data (yaw angle, roll angle, pitch angle) group A1 secured in, for example, the memory described above. It is determined whether or not a predetermined condition (data suitable for processing by the reference point estimation unit 46 in the subsequent stage) is used. For example, when the data value to be determined is equal to or smaller than the parameter, the data selection unit 44 determines that the predetermined condition is satisfied, and sets the vector physical quantity data group D1, the DCM data group R1, and the various angle data groups A1 as the rotation axis. It outputs to the calculation part 45.
- a predetermined condition data suitable for processing by the reference point estimation unit 46 in the subsequent stage
- the rotation axis calculation unit 45 uses a vector physical quantity data group D1, a DCM data group R1, and various angle data (yaw angle, roll angle, pitch angle) group A1, and uses a predetermined coordinate axis system (in this embodiment, for example, (3 axes), a rotation axis direction vector, and rotation axis information consisting of rotation center coordinates are calculated. This calculation process will be described later.
- the rotation axis calculation unit 45 determines whether or not the calculated rotation axis information is data suitable for processing in the reference point estimation unit 46 in the subsequent stage. Is stored in a memory, for example.
- the reference point estimation unit 46 uses the calculated rotation axis information group RL1 and estimates the coordinates of the reference point by an analytical method using the parameters set in the parameter management unit 48.
- the case of detecting geomagnetism using the triaxial magnetic sensor 20 has been described, and the center of the spherical surface on which the detected geomagnetic data group is distributed is referred to as a reference point.
- the reliability determination unit 47 determines the reliability of the reference point estimated by the reference point estimation unit 46 (in this embodiment, for example, is estimated with an error that the system can accept), and determines that the reliability is high.
- the set reference point is output as an offset.
- There are various methods for determining the reliability of the reference point However, there is a method in which reliability information of a reference point is calculated in accordance with parameters to be described later, and the reliability information is compared with a determination value to obtain a reliability index.
- the reference point estimation unit 46 and the reliability determination unit 47 are collectively referred to as an offset estimation unit.
- the number of determination values described above may be one or more.
- the reliability may be divided into a plurality of levels based on a comparison result between each of the plurality of determination values and the reliability information. In this case, only the offset when the reliability is the highest may be output, but is not limited thereto. For example, when the reliability is classified into four categories of “excellent”, “good”, “acceptable”, and “impossible”, the reliability is not limited to “excellent” but may be “good” or “acceptable”. In some cases, it is preferable for the convenience of the user to output the offset.
- the reliability determination unit 47 may output the above-described reliability information or reliability, or may output both reliability information and reliability.
- the parameter management unit 48 manages various parameters related to offset estimation.
- the parameter management unit 48 changes the various parameters relating to the offset estimation based on the processing status in the offset estimation device 40, thereby determining the behavior of the offset estimation device 40 as a whole so that an optimum offset suitable for the processing status is estimated. to manage.
- Parameters include, for example, measurement parameters, judgment values, calculation parameters, etc., and these are stored in a table for each of several levels.
- the parameter management unit 48 may select one level from a plurality of levels according to the processing status, and manage the behavior of the physical quantity measuring device 100 with the parameters indicated by the selected level. Alternatively, the parameter management unit 48 may continuously change various parameter items in accordance with the processing status. Alternatively, the parameter management unit 48 may output the management status of the currently used parameter.
- FIG. 3 is a flowchart showing the physical quantity measurement operation in the physical quantity measuring apparatus 10.
- step S1 a vector physical quantity composed of a plurality of components is detected.
- the magnetic sensor 20 detects geomagnetism composed of three components
- the angular velocity sensor 21 detects the angular velocity.
- step S2 the data acquisition unit 30 acquires the detected vector physical quantity.
- the data acquisition unit 30 performs amplification processing, filter processing, and A / D conversion processing, for example, depending on the type of acquired data in order to facilitate processing in the offset estimation device 40.
- step S3 the distribution unit 41 of the offset estimation device 40 distributes the plurality of types of vector physical quantity data acquired by the data acquisition unit 30 and outputs them to the subsequent stage.
- step S4 the offset estimation device 40 calculates DCM data and various angle data using the vector physical quantity data distributed in step S3. Specifically, the DCM calculation unit 42 of the offset estimation device 40 calculates DCM data R1 from the input vector physical quantity, and the various angle calculation units 43 of the offset estimation device 40 are output from the DCM calculation unit 42. Various angle data (yaw angle, roll angle, pitch angle) A1 is calculated from the DCM data R1.
- step S5 the data selection unit 44 of the offset estimation apparatus 40 uses the DCM data calculated in step S4, various corner data, and the vector physical quantity data distributed in step S3, data suitable for processing in the reference point estimation unit 46. It is determined whether or not. As a result, when it is determined that the data is suitable, the data selection unit 44 selects the DCM data, various angle data, and vector physical quantity data and stores them in, for example, a memory.
- step S6 the rotation axis calculation unit 45 of the offset estimation device 40 obtains the rotation axis information including the rotation axis direction vector and the coordinates on the rotation axis based on the DCM data group, various angle data groups, and the vector physical quantity data group. calculate. Then, the rotation axis calculation unit 45 determines whether or not the calculated rotation axis information data is data suitable for processing in the reference point estimation unit 46. As a result, when it is determined that the rotation axis is suitable, the rotation axis calculation unit 45 stores the rotation axis information in, for example, a memory.
- step S7 the reference point estimation unit 46 of the offset estimation device 40 estimates a reference point included in the vector physical quantity data group based on the rotation axis information group based on a predetermined evaluation formula.
- step S8 the reliability determination unit 47 of the offset estimation device 40 determines the reliability of the estimated reference point coordinates, and outputs the reference point determined to have high reliability as an offset.
- the parameter management unit 48 when a change in the internal state of the physical quantity measuring device 10 or a change in the measurement environment of the physical quantity measuring device 10 is detected, the parameter to be used is changed according to the detection result. .
- the offset estimation device 40 calculates DCM data from at least one of the two types of measurement data acquired by the data acquisition unit 30, and calculates the yaw angle, roll angle, and pitch angle from the calculated DCM data. And the offset estimation apparatus 40 stores DCM data, a yaw angle, a roll angle, a pitch angle, and measurement data in a memory, for example as needed.
- One type of data out of at least two types output from the stored DCM data group, various angle data groups (yaw angle, roll angle, pitch angle) and measurement data group according to a predetermined procedure by the data acquisition unit 30 After the reference point included in is estimated and reliability is determined, it is output as an offset.
- the yaw angle, roll angle, and pitch angle are calculated from the calculated DCM data.
- the yaw angle, roll angle, and pitch angle may be calculated by other methods.
- the measurement data for calculating the DCM data and various angle data may be the data acquired by the data acquisition unit 30 or the measurement data to reduce the influence of noise.
- Data obtained by performing some arithmetic processing (for example, averaging processing) on the group may be used.
- the data acquired by the data acquisition unit 30 may be used as it is, or some calculation process is performed on the measurement data group in order to reduce the influence of noise.
- Data obtained by performing (for example, averaging processing) may be used.
- DCM data calculated by the DCM calculation unit 42 and various angle calculation units 43 are also provided.
- Various angle data (yaw angle, roll angle, and pitch angle) calculated by the above can be used as they are, or DCM data calculated to reduce errors caused by calculation and variations due to noise included in measurement data
- data obtained by performing some arithmetic processing (for example, averaging processing) on the group and the yaw angle, roll angle, and pitch angle data group may be used.
- the physical quantity calculation system 100 shown in FIG. 1 receives the measurement data acquired by the data acquisition unit 30 of the physical quantity measurement device 10 and the offset estimated by the reference point estimation unit 40 in the arithmetic unit 200, and is necessary for the system. Calculate information.
- the magnetic sensor 20 is a three-axis magnetic sensor and an azimuth measuring device whose purpose is to detect terrestrial magnetism and calculate an azimuth angle, first from the estimated offset and the acquired measurement data, Calculate the value, then calculate the azimuth.
- the azimuth ⁇ with respect to the magnetic north of the x measurement axis can be calculated.
- FIG. 4 is a diagram schematically showing the relationship between the distribution status of geomagnetic data, the offset value, and the rotation axis information when the time elapses in an environment where the magnitude of geomagnetism does not change.
- the Xs axis, Ys axis, and Zs axis shown in FIG. 4 are orthogonal axes.
- the coordinate axes of the three axes of the data output from the magnetic sensor 20 and the angular velocity sensor 21 coincide with the Xs axis, the Ys axis, and the Zs axis, respectively, or data conversion is performed so as to coincide with each other.
- magnetic data measured at time t that is, measurement data 401
- magnetic data measured at time t + 1 that is, measurement data 402
- the rotation axis 410 can be expressed using the direction vector 430 of the rotation axis 410 and the coordinates existing on the rotation axis 410.
- the rotation axis 410 is calculated by the rotation axis calculation unit 45 (first rotation axis straight line calculation unit) described above.
- the rotation axis direction vector and the coordinates on the rotation axis are calculated from the DCM data calculated based on the above, and the rotation axis 410 for estimating the offset 400 is obtained. The process for obtaining the rotation axis 410 will be described later.
- various angle data (yaw angle, roll angle, pitch angle) at time t can be calculated using DCM data calculated from the angular velocity data.
- various angle data (yaw angle, roll angle, pitch angle) at time t + 1 can be calculated. For this reason, for example, by obtaining a difference angle between these two kinds of angle data (yaw angle, roll angle, pitch angle), the portable terminal equipped with the physical quantity measurement system 100 from time t to time t + 1 is obtained. It is possible to determine how much the attitude has rotated as the yaw angle, roll angle, and pitch angle. Thereby, it is possible to determine the degree of change in the attitude of the mobile terminal.
- the parameter is compared with the calculated parameter set in the parameter management unit 48, and from the comparison result, for example, a data group is determined only when the mobile terminal is rotated more than a certain angle, and only the data group is used.
- a data group is determined only when the mobile terminal is rotated more than a certain angle, and only the data group is used.
- This makes it possible to easily eliminate data that is not suitable for the estimation of the reference point in the subsequent stage, such as when the mobile terminal is not moving or when there is little movement, and as a result contributes to improving the accuracy of the reference point estimation.
- various angle data (yaw angle, roll angle, pitch angle) is calculated from the DCM data, and the difference data of the yaw angle, roll angle, pitch angle is used as an indicator of the movement of the mobile terminal. It may be determined how much the mobile terminal has moved from the integrated angle around each axis, or the degree of change in the attitude of the mobile terminal may be determined using magnetic sensor data, acceleration sensor data, etc. .
- the method for obtaining the rotation axis 410 will be specifically described using mathematical expressions.
- a and B are values in the sensor coordinate system.
- a T represents a transposed vector of A
- B T represents a transposed vector of B.
- the value in the global coordinate system corresponding to the magnetic data 401 is A G
- the value in the global coordinate system corresponding to the magnetic data 402 is B G
- R A is DCM data 451 calculated based on the angular velocity data measured at time t
- R B is DCM data 452 calculated based on the angular velocity data measured at time t + 1.
- DCM data is represented by a 3 ⁇ 3 matrix, and a general formula is defined as the following formula.
- DCM data (R A ) 451 at time t and DCM data (R B ) 452 at time t + 1 can be calculated.
- the DCM data calculated according to Equation 3 may lose its straightness due to problems such as calculation accuracy over time. Therefore, after the DCM data is calculated, a calculation process is performed to maintain the straightness. Also good.
- the DCM data is calculated by directly using the data of the angular velocity sensor.
- various angular data yaw angle, roll angle, pitch angle
- quaternion quaternion
- the case where only the minimum sampling time is incremented is shown as an example, such as time t and time t + 1, but the time difference between time t and time t + 1 is not the minimum sampling time. May be.
- time difference between the time t and the time t + 1 is not a minimum sampling time but an arbitrary time difference, for example, as an example of angular velocity data used when obtaining DCM data, the time t and the time t + 1 These two angular velocity data may be used, or any number of angular velocity data acquired from time t to time t + 1 may be used.
- DCM data when obtaining a plurality of DCM data, that is, DCM data (R A ), DCM data (R B ), etc., DCM data at the same time is used as a reference from the viewpoint of maintaining the relationship between the DCM data. It is preferable to calculate.
- a unit matrix or the like can be cited as reference DCM data, but DCM data composed of desired values can be used as a reference.
- the reference when it is no longer necessary to maintain the relationship between each other's DCM data, such as when the state of the magnetic field changes or when the magnetization state changes, the reference is used. You may change the time of DCM data.
- DCM data (R A ) 451 and DCM data (R B ) 452 the relationship between the magnetic data A and A G and the magnetic data B and B G can be defined as follows:
- the magnetic data A, B can be expressed as: R A T represents a transposed matrix of R A.
- Equation 10 is derived from these two equations.
- Equations 6 and 7 the case where the measured magnetic sensor data includes an offset is described.
- the relationship between the magnetic data can be expressed as follows.
- Equation 11 and Equation 12 are solved for b c and substituted for these, the following equation is obtained.
- Equation 10 when R A T and R B T are respectively multiplied on both sides and the difference between the two calculated expressions is calculated, the result is as follows.
- equations are organized using the relationships of Equations 14 to 17.
- Equation 10 For the 3 ⁇ 3 matrix represented by (R A ⁇ R B ) on the right side of Equation 10, b 0 can be obtained if an inverse matrix can be obtained, but the matrix (R It is known that the inverse matrix cannot be obtained because the determinant of A ⁇ R B ) is 0 in principle. However, from the equation 20, it is possible to obtain a perpendicular direction vector with respect to the rotation axis when changing from A to B.
- the direction vector can be expressed by the following equation. That is, the coordinates (P) on the rotation axis 410 can be expressed.
- the direction unit vector of the rotation axis 410 can be obtained by normalizing the rotation axis vector expressed by Equation 23.
- the vector expressed by Equation 23 is normalized.
- the effect of this embodiment is not affected. .
- the physical quantity measurement system 100 between the time t and the time t + 1 is obtained by obtaining each difference angle of two yaw angles, two roll angles, and two pitch angles. It is possible to determine how much the orientation of the mobile terminal mounted has been rotated.
- the period corresponding to between time t and time t + 1 is not only between time t and time t + 1, but also between time t and time t + 1. It is assumed to include a period in which the time between time t + 1 is slightly increased or decreased.
- the determination using the yaw angle, the roll angle, and the pitch angle and the determination using the scalar quantity of the rotation axis direction vector are performed in two stages.
- a two-stage determination is performed in which the determination using the yaw angle, roll angle, and pitch angle is performed in the previous stage.
- the determination may be performed using only one of the methods, or rotation axis information used for estimation may be selected in the later reference point estimation stage.
- FIG. 5 is a diagram schematically showing the relationship of the measurement data (magnetic data) at time t + 2 when more time has elapsed from time t + 1.
- the magnetic data 402 measured at time t + 1 and the magnetic data 403 measured at time t + 2 are distributed on an arc of a circular plane 441 perpendicular to the rotation axis 411 passing through the offset 400.
- the rotation axis 411 is calculated by the rotation axis calculation unit 45 (second rotation axis straight line calculation unit) described above.
- FIG. 6 schematically shows the relationship between the rotation axes 410 and 411 and the planes 440 and 441 calculated from the magnetic data group measured at time t, time t + 1, and time t + 2 and the corresponding DCM data group.
- the linear equation of each rotation axis can be expressed as follows:
- a method for estimating an offset value based on a coordinate value where a plurality of rotation axes are gathered will be described below for two cases where two rotation axes are used and when three or more rotation axes are used. .
- FIG. 7 is a schematic diagram when the offset 400 is estimated from the rotation axes 410 and 411 expressed by Expression 24 and Expression 25.
- the phrase “the rotation axes are gathered” in the present embodiment includes not only a state where the plurality of rotation axes intersect but also a state where the plurality of rotation axes are in a twisted position.
- the two rotation axes 410 and 411 intersect.
- noise is often mixed in sensor data to be measured, and if the positional relationship of the rotating shafts obtained by the methods described so far is used, it is often twisted.
- the coordinates of the offset 400 to be estimated are the coordinates at which the spatial distance to the two rotation axes 410 and 411 is the shortest.
- draw perpendicular lines from the offset coordinates to the two rotation axes 410 and 411 find the spatial distance from the legs of each perpendicular line, and use the coordinates that minimize the sum as the coordinates of the offset 400 Good.
- the sum of the offset coordinate as a variable and the square distance of the perpendicular foot may be minimized, and the two rotation axes 410 and 411 may be orthogonal to each other. There is no problem if a straight line to be obtained is obtained, and a midpoint between two coordinates where the straight line and the rotation axes 410 and 411 intersect is obtained as an offset coordinate.
- the offset value is estimated using three or more rotating shafts.
- the spatial distance from the foot of the perpendicular to each rotation axis is obtained, and the coordinate that minimizes the sum may be used as the offset coordinate.
- the sum of the offset coordinate as a variable and the square distance of the foot of the perpendicular may be obtained to be the minimum, for example, a certain sphere is set and passed through the sphere
- a technique that provides the same effect as that of the present invention may be employed without calculating the offset value using the spatial distance as an index, such as using the center coordinates of the sphere when the number of rotation axes is the largest as the offset coordinates.
- FIG. 8 calculates the rotational axis information from the measured magnetic sensor data group and the measured angular velocity sensor data group according to the method described above, and used the measured magnetic data group, the estimated offset coordinate group, and the estimation. It is the figure which plotted rotation axis information as a straight line.
- FIG. 8 shows that the measured magnetic data 501 is distributed in a spherical shape, and a plurality of rotation axes 503 calculated according to the procedure of the present method are distributed radially around the estimated offset coordinate 502. This indicates that the offset estimation method employed in this embodiment is functioning normally.
- the offset estimation device 40 has been described by taking the configuration equipped in the physical quantity measurement device 10 as an example, but for example, the offset estimation device 40 may be configured only by the offset estimation device.
- the offset estimation device 40 has been described with respect to the case where the offset is estimated based on the magnetic data and the angular velocity data at the times t1, t + 1, t + 2, but for example, the time t1, t + 1, t + 2, t + 3, or
- the offset may be estimated based on the magnetic data and the angular velocity data at the above time.
- an arbitrary magnetic data group for example, (t, t + 1) and (t, t + 2)
- the offset can be estimated unless all the rotation axes are the same. That is, if at least one set of different rotation axes is present, the offset can be estimated.
- the information based on the first angular velocity data is information based on the difference direction cosine matrix B T A or A T B
- the information based on the angular velocity data may be information based on the difference direction cosine matrix D T C or C T D.
- the direction cosine matrix may include either a conversion matrix from the sensor coordinate system to the global coordinate system or a conversion matrix from the global coordinate system to the sensor coordinate system.
- the direction cosine matrix may be defined as a conversion matrix from the sensor coordinate system to the global coordinate system, or may be defined as a conversion matrix from the global coordinate system to the sensor coordinate system.
- the direction cosine matrix is defined as a transformation matrix from the sensor coordinate system to the global coordinate system.
- the direction cosine matrix passes through a coordinate system other than the sensor coordinate system and the global coordinate system. Even if the matrix is defined, the effect of the present invention is not affected.
- the first embodiment An offset estimation apparatus for estimating an offset of magnetic data output by a three-axis geomagnetism detection unit, the first time magnetic data and the second time magnetic data output by the geomagnetism detection unit, and the first Each axis component of the magnetic data output by the geomagnetism detection unit is obtained by acquiring rotation amount data that is data corresponding to the rotation amount of the geomagnetism detection unit in a period corresponding to between the time 1 and the second time. On the coordinate space having the coordinate value as the coordinate value, the magnetic data at the first time and the magnetic data at the second time, and the rotation in a period corresponding to the period between the first time and the second time.
- First rotation axis calculation for calculating a first rotation axis when rotating a coordinate value based on the magnetic data at the first time to a coordinate value based on the magnetic data at the second time based on the quantity data
- the magnetic data at the third time and the magnetic data at the fourth time output from the geomagnetism detection unit, and the rotation amount of the geomagnetism detection unit during the period corresponding to the period between the third time and the fourth time
- Rotation amount data that is data corresponding to the magnetic data, and the magnetic data at the third time and the fourth time in the coordinate space with the respective axis components of the magnetic data output from the geomagnetism detection unit as coordinate values.
- a coordinate value based on the magnetic data of the third time is obtained as the fourth value.
- a second rotation axis calculation unit that calculates a second rotation axis when rotating to a coordinate value based on magnetic data of time;
- An offset estimation unit that estimates an offset of the magnetic data of the geomagnetism detection unit based on coordinate values at which the first rotation axis and the second rotation axis are gathered; It is description regarding the offset estimation apparatus characterized by providing.
- the first rotation axis calculation unit is A direction vector of the first rotation axis is calculated based on rotation amount data that is data corresponding to the rotation amount of the geomagnetism detection unit in a period corresponding to the period between the first time and the second time.
- Rotation amount data which is data corresponding to the rotation amount of the geomagnetism detection unit during a period corresponding to the period between the first time and the second time, the magnetic data at the first time, and the second time
- the coordinate value on the first rotation axis is calculated, It is description regarding the offset estimation apparatus which calculates a said 1st rotating shaft based on the direction vector of a said 1st rotating shaft, and the coordinate value on the said 1st rotating shaft.
- the second rotation axis calculation unit is based on rotation amount data that is data corresponding to the rotation amount of the geomagnetism detection unit during a period corresponding to the period between the third time and the fourth time.
- the coordinate value on the second rotation axis is calculated, It is description regarding the offset estimation apparatus which calculates a said 2nd rotating shaft based on the direction vector of a said 2nd rotating shaft, and the coordinate value on the said 2nd rotating shaft.
- magnetic data measured at time t that is, measurement data 401
- magnetic data measured at time t + 1, that is, measurement data 402 are included in the data group of the magnetic sensor 20. It is distributed on a spherical surface centered on the offset 400 and distributed on an arc of a circular plane 440 passing through the offset 400 and perpendicular to the rotation axis 410.
- the rotation axis 410 in the first embodiment can be expressed using the direction vector 430 of the rotation axis 410 and the coordinates existing on the rotation axis 410.
- the rotation axis 410 can be expressed using the center coordinates 471 of the circular plane 440 and the coordinates existing on the rotation axis 410.
- FIG. 9 is a diagram schematically showing the relationship between the distribution status of geomagnetic data, the offset value, and the rotation axis information when the time has passed in an environment where the magnitude of geomagnetism does not change in the case of the second embodiment. It is. 9 is different from FIG. 4 mainly in that the rotation angle 450 is represented.
- the correspondence relationship between the measurement data measured at time t, that is, the magnetic data 401, and the measurement data measured at time t + 1, that is, the magnetic data 402, can be expressed as follows.
- the rotation angle 450 can be obtained using the difference DCM data (R BA ) 453 when the angular velocity data is used as the amount of change between the time t and the time t + 1.
- the angle between the two vectors can be determined from the inner product and outer product of the vector V 1 before rotation and the vector V 2 after rotation.
- the angle in this case corresponds to the rotation angle 450.
- the vector V 1 is obtained as a unit vector. However, it is not necessarily a unit vector, and any technique that can obtain the rotation angle 450 does not affect the effect of the present invention.
- FIG. 10 is a diagram showing the circular plane 440 in FIG. 9 on a two-dimensional plane.
- the midpoint 460 of the magnetic data 401, 402 is obtained from the magnetic data 401 measured at time t and the magnetic data 402 measured at time t + 1.
- the spatial distance (d) 490 between the magnetic data 401 and the midpoint 460 is (magnetic data 401 and 402), (magnetic data 401 and midpoint 460), or (magnetic data 402 and midpoint 460). Either can be used.
- the angle 451 is half (1/2) the rotation angle 450 shown in FIG. Therefore, the spatial distance 491 between the midpoint 460 and the point 471 is obtained using the angle 451 and the spatial distance 490.
- the spatial distance between the midpoint 460 and the point 470 is the same value as the spatial distance (L) 491. Further, by obtaining the spatial distance between the midpoint 460 and the point 470 using the angle 451, it is possible to obtain the spatial distance (L) 491 between the midpoint 460 and the center 471 of the circular plane.
- the spatial distance (L) 491 for example, a method of obtaining using the spatial distance (d) 490 and the angle 451 is employed, but the spatial distance (L) is calculated using another method. ) 491 may be obtained.
- the coordinates of the center 471 of the circular plane shown in FIG. 10 are at a position separated from the midpoint 460 between the magnetic data 401 and 402 by a spatial distance (L) 491. As shown in FIG. 10, there are two coordinates 470 and 471 that are equidistant from the midpoint 460. The coordinate value of the center 471 can be obtained from the midpoint 460 and the spatial distance (L) 491, but it cannot be specified which of the coordinates 470 and 471 is the rotation center coordinate.
- rotation center coordinate candidates are calculated and the rotation center coordinates are estimated from the positional relationship of the candidate coordinates.
- the rotation center coordinates may be specified using other methods. Even if it does in this way, it does not affect the effect of this invention.
- the rotation axis for example, when the coordinates on the rotation axis are obtained as shown in the first embodiment, the coordinates of the two points on the rotation axis are obtained together with the rotation center coordinates. Then, a linear equation of the rotation axis is obtained.
- the offset is estimated from the plurality of rotation axes thus obtained by using the method as shown in the first embodiment.
- the second embodiment An offset estimation apparatus for estimating an offset of magnetic data output by a three-axis geomagnetism detection unit, the first time magnetic data and the second time magnetic data output by the geomagnetism detection unit, and the first Each axis component of the magnetic data output by the geomagnetism detection unit is obtained by acquiring rotation amount data that is data corresponding to the rotation amount of the geomagnetism detection unit in a period corresponding to between the time 1 and the second time. On the coordinate space having the coordinate value as the coordinate value, the magnetic data at the first time and the magnetic data at the second time, and the rotation in a period corresponding to the period between the first time and the second time.
- First rotation axis calculation for calculating a first rotation axis when rotating a coordinate value based on the magnetic data at the first time to a coordinate value based on the magnetic data at the second time based on the quantity data
- the magnetic data at the third time and the magnetic data at the fourth time output from the geomagnetism detection unit, and the rotation amount of the geomagnetism detection unit during the period corresponding to the period between the third time and the fourth time
- Rotation amount data that is data corresponding to the magnetic data, and the magnetic data at the third time and the fourth time in the coordinate space with the respective axis components of the magnetic data output from the geomagnetism detection unit as coordinate values.
- a coordinate value based on the magnetic data of the third time is obtained as the fourth value.
- a second rotation axis calculation unit that calculates a second rotation axis when rotating to a coordinate value based on magnetic data of time;
- An offset estimation unit that estimates an offset of the magnetic data of the geomagnetism detection unit based on coordinate values at which the first rotation axis and the second rotation axis are gathered; It is description regarding the offset estimation apparatus characterized by providing.
- the first rotation axis calculation unit is Magnetic data at the first time, magnetic data at the second time, and magnetic data at a fifth time; Rotation amount data that is data corresponding to the rotation amount of the geomagnetism detection unit in a period corresponding to the period between the first time and the second time; Rotation amount data that is data corresponding to the rotation amount of the geomagnetism detection unit in a period corresponding to the period between the second time and the fifth time; Based on the above, at least two or more coordinate values on the first rotation axis are calculated, It is description regarding the offset estimation apparatus which calculates a said 1st rotating shaft based on the coordinate value on the said 1st rotating shaft of the said 2 or more points
- the second rotation axis calculation unit is Magnetic data at the third time, magnetic data at the fourth time, and magnetic data at the sixth time; Rotation amount data that is data corresponding to the rotation amount of the geomagnetism detector in a period corresponding to the period between the third time and the fourth time; Rotation amount data that is data corresponding to the rotation amount of the geomagnetism detector in a period corresponding to the period between the fourth time and the sixth time; Based on the above, at least two or more coordinate values on the second rotation axis are calculated, It is description regarding the offset estimation apparatus which calculates a said 2nd rotating shaft based on the coordinate value on the said 2nd rotating shaft of the said 2 or more points
- a set of the first time and the second time, a set of the third time and the fourth time If the first time and the second time are set as (time t, time t + 1), and the third time and the fourth time are set as (time t, time t + 2), An offset may be estimated.
- the offset estimation apparatus and the offset estimation method capable of accurately estimating the offset of the geomagnetic sensor have been described with reference to the first embodiment and the second embodiment.
- the function of the offset estimation apparatus of each embodiment may be realized by a program.
- an information device such as a portable terminal or a computer can realize the function of the offset estimation device described above according to a program.
- an information processing apparatus such as a portable terminal provided with the offset estimation device of each embodiment, a geomagnetic sensor (geomagnetic detection unit), and an angular velocity sensor (angular velocity detection unit) may be configured. Even in this case, the information processing apparatus can achieve the effects described in the embodiments.
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Abstract
Description
に関する。
以下、本発明のオフセット推定装置を含む物理量計測システムの一実施形態を、図面を参照して説明する。実施形態に係る物理量計測システム100は、例えば携帯電話機、PDA(Personal Digital Assistant)やタブレット型端末等の携帯機器に搭載されており、ユーザが携帯機器を動かしたときに、地磁気以外の信号成分であるオフセットを推定して方位角を計測するためのシステムである。
次に、パラメータ管理部48の動作について説明する。
次に、オフセット推定装置40の動作について説明する。
図1に示す物理量計算システム100は、演算部200において、通常、物理量計測装置10のデータ取得部30が取得した測定データ、および基準点推定部40が推定したオフセットを受けて、システムに必要な情報を計算する。
前述したように地磁気の大きさが変わらない環境で、3軸の磁気センサ20を用いて地磁気データを取得した場合、地磁気の測定データは球面上に分布する。
次に、回転軸410を求める手法について、数式を用いながら具体的な説明を行う。ここでは、時刻tにおいて測定された磁気データ401をA=(Ax,Ay,Az)T、時刻t+1において測定された磁気データ402をB=(Bx,By,Bz)Tとする。なお、A、Bはセンサ座標系における値とする。ATはAの転置ベクトル、BTはBの転置ベクトルを表す。
3軸の地磁気検出部が出力する磁気データのオフセットを推定するオフセット推定装置であって、前記地磁気検出部が出力する第1の時刻の磁気データと第2の時刻の磁気データ、及び、前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データを取得し、前記地磁気検出部が出力する前記磁気データの各軸成分を座標値とした座標空間上において、前記第1の時刻の磁気データと前記第2の時刻の磁気データ、および、前記第1の時刻と前記第2の時刻の間に相当する期間の前記回転量データに基づいて、前記第1の時刻の磁気データに基づく座標値を前記第2の時刻の磁気データに基づく座標値に回転させる際の第1の回転軸を算出する第1の回転軸算出部と、
前記地磁気検出部が出力する第3の時刻の磁気データと第4の時刻の磁気データ、及び、前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データを取得し、前記地磁気検出部が出力する前記磁気データの各軸成分を座標値とした座標空間上において、前記第3の時刻の磁気データと前記第4の時刻の磁気データ、および、前記第3の時刻と前記第4の時刻の間に相当する期間の前記回転量データに基づいて、前記第3の時刻の磁気データに基づく座標値を前記第4の時刻の磁気データに基づく座標値に回転させる際の第2の回転軸を算出する第2の回転軸算出部と、
前記第1の回転軸と前記第2の回転軸と、が集合する座標値に基づき、前記地磁気検出部の前記磁気データのオフセットを推定するオフセット推定部と、
を備えることを特徴とするオフセット推定装置に関する説明である。
前記第1の回転軸算出部が、
前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データに基づいて、前記第1の回転軸の方向ベクトルを算出し、
前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、前記第1の時刻の磁気データ及び前記第2の時刻の磁気データに基づいて、前記第1の回転軸上の座標値を算出し、
前記第1の回転軸の方向ベクトルと前記第1の回転軸上の座標値に基づいて、前記第1の回転軸を算出するオフセット推定装置に関する説明である。
前記第2の回転軸算出部が
前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データに基づいて、前記第2の回転軸の方向ベクトルを算出し、
前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、前記第3の時刻の磁気データおよび前記第4の時刻の磁気データに基づいて、前記第2の回転軸上の座標値を算出し、
前記第2の回転軸の方向ベクトルと前記第2の回転軸上の座標値に基づいて、前記第2の回転軸を算出するオフセット推定装置に関する説明である。
以下、本発明のオフセット推定装置の一実施形態を説明する。第1の実施形態と同等のところについては、本実施の形態の説明では省略するとともに、必要に応じて第1の実施形態で示した図面、数式等を使用して説明を行う。
3軸の地磁気検出部が出力する磁気データのオフセットを推定するオフセット推定装置であって、前記地磁気検出部が出力する第1の時刻の磁気データと第2の時刻の磁気データ、及び、前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データを取得し、前記地磁気検出部が出力する前記磁気データの各軸成分を座標値とした座標空間上において、前記第1の時刻の磁気データと前記第2の時刻の磁気データ、および、前記第1の時刻と前記第2の時刻の間に相当する期間の前記回転量データに基づいて、前記第1の時刻の磁気データに基づく座標値を前記第2の時刻の磁気データに基づく座標値に回転させる際の第1の回転軸を算出する第1の回転軸算出部と、
前記地磁気検出部が出力する第3の時刻の磁気データと第4の時刻の磁気データ、及び、前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データを取得し、前記地磁気検出部が出力する前記磁気データの各軸成分を座標値とした座標空間上において、前記第3の時刻の磁気データと前記第4の時刻の磁気データ、および、前記第3の時刻と前記第4の時刻の間に相当する期間の前記回転量データに基づいて、前記第3の時刻の磁気データに基づく座標値を前記第4の時刻の磁気データに基づく座標値に回転させる際の第2の回転軸を算出する第2の回転軸算出部と、
前記第1の回転軸と前記第2の回転軸と、が集合する座標値に基づき、前記地磁気検出部の前記磁気データのオフセットを推定するオフセット推定部と、
を備えることを特徴とするオフセット推定装置に関する説明である。
前記第1の回転軸算出部が、
前記第1の時刻の磁気データ、前記第2の時刻の磁気データおよび第5の時刻の磁気データと、
前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、
前記第2の時刻と前記第5の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、
に基づいて、前記第1の回転軸上の座標値を少なくとも2点以上算出し、
前記少なくとも2点以上の前記第1の回転軸上の座標値に基づいて、前記第1の回転軸を算出するオフセット推定装置に関する説明である。
前記第2の回転軸算出部が、
前記第3の時刻の磁気データ、前記第4の時刻の磁気データおよび第6の時刻の磁気データと、
前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、
前記第4の時刻と前記第6の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、
に基づいて、前記第2の回転軸上の座標値を少なくとも2点以上算出し、
前記少なくとも2点以上の前記第2の回転軸上の座標値に基づいて、前記第2の回転軸を算出するオフセット推定装置に関する説明である。
20 磁気センサ
21 角速度センサ
30 データ取得部
40 オフセット推定装置
41 振分部
42 DCM算出部
43 各種角度算出部
44 データ選択部
45 回転角算出部
46 基準点算出部
47 信頼性判定部
48 パラメータ管理部
100 物理量計測システム
200 演算部
Claims (14)
- 3軸の地磁気検出部が出力する磁気データのオフセットを推定するオフセット推定装置であって、
前記地磁気検出部が出力する第1の時刻の磁気データと第2の時刻の磁気データ、及び、前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データを取得し、前記地磁気検出部が出力する前記磁気データの各軸成分を座標値とした座標空間上において、前記第1の時刻の磁気データと前記第2の時刻の磁気データ、および、前記第1の時刻と前記第2の時刻の間に相当する期間の前記回転量データに基づいて、前記第1の時刻の磁気データに基づく座標値を前記第2の時刻の磁気データに基づく座標値に回転させる際の第1の回転軸を算出する第1の回転軸算出部と、
前記地磁気検出部が出力する第3の時刻の磁気データと第4の時刻の磁気データ、及び、前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データを取得し、前記地磁気検出部が出力する前記磁気データの各軸成分を座標値とした座標空間上において、前記第3の時刻の磁気データと前記第4の時刻の磁気データ、および、前記第3の時刻と前記第4の時刻の間に相当する期間の前記回転量データに基づいて、前記第3の時刻の磁気データに基づく座標値を前記第4の時刻の磁気データに基づく座標値に回転させる際の第2の回転軸を算出する第2の回転軸算出部と、
前記第1の回転軸と前記第2の回転軸と、が集合する座標値に基づき、前記地磁気検出部の前記磁気データのオフセットを推定するオフセット推定部と、
を備えることを特徴とするオフセット推定装置。 - 前記第1の回転軸算出部は、
前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データに基づいて、前記第1の回転軸の方向ベクトルを算出し、
前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、前記第1の時刻の磁気データ及び前記第2の時刻の磁気データに基づいて、前記第1の回転軸上の座標値を算出し、
前記第1の回転軸の方向ベクトルと前記第1の回転軸上の座標値に基づいて、前記第1の回転軸を算出することを特徴とする請求項1に記載のオフセット推定装置。 - 前記第1の回転軸算出部は、
前記第1の時刻の磁気データ、前記第2の時刻の磁気データおよび第5の時刻の磁気データと、
前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、
前記第2の時刻と前記第5の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、
に基づいて、前記第1の回転軸上の座標値を少なくとも2点以上算出し、
前記少なくとも2点以上の前記第1の回転軸上の座標値に基づいて、前記第1の回転軸を算出することを特徴とする請求項1に記載のオフセット推定装置。 - 前記第2の回転軸算出部は、
前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データに基づいて、前記第2の回転軸の方向ベクトルを算出し、
前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、前記第3の時刻の磁気データおよび前記第4の時刻の磁気データに基づいて、前記第2の回転軸上の座標値を算出し、
前記第2の回転軸の方向ベクトルと前記第2の回転軸上の座標値に基づいて、前記第2の回転軸を算出することを特徴とする請求項1から3の何れか1項に記載のオフセット推定装置。 - 前記第2の回転軸算出部は、
前記第3の時刻の磁気データ、前記第4の時刻の磁気データおよび第6の時刻の磁気データと、
前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、
前記第4の時刻と前記第6の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データと、
に基づいて、前記第2の回転軸上の座標値を少なくとも2点以上算出し、
前記少なくとも2点以上の前記第2の回転軸上の座標値に基づいて、前記第2の回転軸を算出することを特徴とする請求項1から3の何れか1項に記載のオフセット推定装置。 - 前記第1の回転軸算出部は、
前記第1の時刻に対応する第1の方向余弦行列を、前記第1の時刻以前の時刻に対応する方向余弦行列と、前記第1の時刻以前の時刻と前記第1の時刻の間に相当する期間の前記地磁気検出部の回転量データに基づいて算出し、
前記第2の時刻に対応する第2の方向余弦行列を、前記第1の時刻以前の時刻に対応する方向余弦行列と、前記第1の時刻以前の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量データに基づいて算出し、
前記第1の方向余弦行列、および前記第2の方向余弦行列に基づいて、前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じた第1の差分方向余弦行列を算出し、
前記第1の差分方向余弦行列と前記第1の差分方向余弦行列の転置行列、および前記第1の磁気データと前記第2の磁気データに基づいて、前記第1の回転軸上の座標値を算出し、
前記第2の回転軸算出部は、
前記第3の時刻に対応する第3の方向余弦行列を、前記第1の時刻以前の時刻に対応する方向余弦行列と、前記第1の時刻以前の時刻と前記第3の時刻の間に相当する期間の前記地磁気検出部の回転量データに基づいて算出し、
前記第4の時刻に対応する第4の方向余弦行列を、前記第1の時刻以前の時刻に対応する方向余弦行列と、前記第1の時刻以前の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量データに基づいて算出し、
前記第3の方向余弦行列、および前記第4の方向余弦行列に基づいて、前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じた第2の差分方向余弦行列を算出し、
前記第2の差分方向余弦行列と前記第2の差分方向余弦行列の転置行列、および前記第3の磁気データと前記第4の磁気データに基づいて、前記第2の回転軸上の座標値を算出する
ことを特徴とする請求項4又は5に記載のオフセット推定装置。 - 前記第1の差分方向余弦行列に基づき、前記第1の回転軸の方向ベクトルを算出することを特徴とする請求項6に記載のオフセット推定装置。
- 前記第2の差分方向余弦行列に基づき、前記第2の回転軸の方向ベクトルを算出することを特徴とする請求項6又は7に記載のオフセット推定装置。
- 前記第1の回転軸算出部は、
前記第1の時刻に対応する第1の方向余弦行列を、前記第1の時刻以前の時刻に対応する方向余弦行列と、前記第1の時刻以前の時刻と前記第1の時刻の間に相当する期間の前記地磁気検出部の回転量データに基づいて算出し、
前記第2の時刻に対応する第2の方向余弦行列を、前記第1の時刻以前の時刻に対応する方向余弦行列と、前記第1の時刻以前の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量データに基づいて算出し、
前記第5の時刻に対応する第5の方向余弦行列を、前記第1の時刻以前の時刻に対応する方向余弦行列と、前記第1の時刻以前の時刻と前記第5の時刻の間に相当する期間の前記地磁気検出部の回転量データに基づいて算出し、
前記第1の方向余弦行列、および前記第2の方向余弦行列に基づいて、前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の前記地磁気検出部の回転量に応じた第1の差分方向余弦行列を算出し、 前記第2の方向余弦行列、および前記第5の方向余弦行列に基づいて、前記第2の時刻と前記第5の時刻の間に相当する期間の前記地磁気検出部の回転量に応じた第3の差分方向余弦行列を算出し、
前記第1の差分方向余弦行列に基づいて、前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の前記地磁気検出部の回転量に応じた第1の回転角度を算出し、
前記第3の差分方向余弦行列に基づいて、前記第2の時刻と前記第5の時刻の間に相当する期間の前記地磁気検出部の回転量に応じた第2の回転角度を算出し、
前記第1の回転角度、前記第2の回転角度、前記第1の磁気データ、前記第2の磁気データ、及び前記第5の磁気データに基づいて、前記第1の回転軸上の座標値を算出することを特徴とする請求項3に記載のオフセット推定装置。 - 前記第2の回転軸算出部は、
前記第3の時刻に対応する第3の方向余弦行列を、前記第1の時刻以前の時刻に対応する方向余弦行列と、前記第1の時刻以前の時刻と前記第3の時刻の間に相当する期間の前記地磁気検出部の回転量データに基づいて算出し、
前記第4の時刻に対応する第4の方向余弦行列を、前記第1の時刻以前の時刻に対応する方向余弦行列と、前記第1の時刻以前の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量データに基づいて算出し、
前記第6の時刻に対応する第6の方向余弦行列を、前記第1の時刻以前の時刻に対応する方向余弦行列と、前記第1の時刻以前の時刻と前記第6の時刻の間に相当する期間の前記地磁気検出部の回転量データに基づいて算出し、
前記第3の方向余弦行列、および前記第4の方向余弦行列に基づいて、前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じた第2の差分方向余弦行列を算出し、
前記第4の方向余弦行列、および前記第6の方向余弦行列に基づいて、前記第4の時刻と前記第6の時刻の間に相当する期間の前記地磁気検出部の回転量に応じた第4の差分方向余弦行列を算出し、
前記第2の差分方向余弦行列に基づいて、前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じた第3の回転角度を算出し、
前記第4の差分方向余弦行列に基づいて、前記第4の時刻と前記第6の時刻の間に相当する期間の前記地磁気検出部の回転量に応じた第4の回転角度を算出し、
前記第3の回転角度、前記第4の回転角度、前記第3の磁気データ、前記第4の磁気データ、及び前記第6の磁気データに基づいて、前記第2の回転軸上の座標値を算出する
ことを特徴とする請求項5に記載のオフセット推定装置。 - 前記回転量データは角度データ、角速度データ、角加速度データの何れかに基づくものであることを特徴とする請求項1から請求項10の何れか1項に記載のオフセット推定装置。
- 前記地磁気検出部が出力する第1の時刻の磁気データと第2の時刻の磁気データ、及び、前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データを取得し、前記地磁気検出部が出力する前記磁気データの各軸成分を座標値とした座標空間上において、前記第1の時刻の磁気データと前記第2の時刻の磁気データ、および、前記第1の時刻と前記第2の時刻の間に相当する期間の前記回転量データに基づいて、前記第1の時刻の磁気データに基づく座標値を前記第2の時刻の磁気データに基づく座標値に回転させる際の第1の回転軸を算出する第1の回転軸算出ステップと、
前記地磁気検出部が出力する第3の時刻の磁気データと第4の時刻の磁気データ、及び、前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データを取得し、前記地磁気検出部が出力する前記磁気データの各軸成分を座標値とした座標空間上において、前記第3の時刻の磁気データと前記第4の時刻の磁気データ、および、前記第3の時刻と前記第4の時刻の間に相当する期間の前記回転量データに基づいて、前記第3の時刻の磁気データに基づく座標値を前記第4の時刻の磁気データに基づく座標値に回転させる際の第2の回転軸を算出する第2の回転軸算出ステップと、
前記第1の回転軸と前記第2の回転軸と、が集合する座標値に基づき、前記地磁気検出部の前記磁気データのオフセットを推定するオフセット推定ステップと、
を備えることを特徴とするオフセット推定方法。 - コンピュータに3軸の地磁気検出部が出力する磁気データのオフセットを推定させるためのオフセット推定プログラムであって、
コンピュータに、
前記地磁気検出部が出力する第1の時刻の磁気データと第2の時刻の磁気データ、及び、前記第1の時刻と前記第2の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データを取得させ、前記地磁気検出部が出力する前記磁気データの各軸成分を座標値とした座標空間上において、前記第1の時刻の磁気データと前記第2の時刻の磁気データ、および、前記第1の時刻と前記第2の時刻の間に相当する期間の前記回転量データに基づいて、前記第1の時刻の磁気データに基づく座標値を前記第2の時刻の磁気データに基づく座標値に回転させる際の第1の回転軸を算出させ、
前記地磁気検出部が出力する第3の時刻の磁気データと第4の時刻の磁気データ、及び、前記第3の時刻と前記第4の時刻の間に相当する期間の前記地磁気検出部の回転量に応じたデータである回転量データを取得させ、前記地磁気検出部が出力する前記磁気データの各軸成分を座標値とした座標空間上において、前記第3の時刻の磁気データと前記第4の時刻の磁気データ、および、前記第3の時刻と前記第4の時刻の間に相当する期間の前記回転量データに基づいて、前記第3の時刻の磁気データに基づく座標値を前記第4の時刻の磁気データに基づく座標値に回転させる際の第2の回転軸を算出させ、
前記第1の回転軸と前記第2の回転軸と、が集合する座標値に基づき、前記地磁気検出部の前記磁気データのオフセットを推定させる
ことを特徴とするオフセット推定プログラム。 - 請求項1ないし11の何れか1項に記載のオフセット推定装置と、
地磁気検出部と、
角速度検出部と、
を備えることを特徴とする情報処理装置。
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- 2013-02-22 WO PCT/JP2013/001021 patent/WO2013125242A1/ja active Application Filing
- 2013-02-22 JP JP2014500602A patent/JP5706576B2/ja not_active Expired - Fee Related
- 2013-02-22 US US14/350,584 patent/US20140257731A1/en not_active Abandoned
- 2013-02-22 CN CN201380003470.7A patent/CN103874904B/zh not_active Expired - Fee Related
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Cited By (9)
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JP2015117943A (ja) * | 2013-12-16 | 2015-06-25 | キヤノン株式会社 | 電子機器、その制御方法及びプログラム |
JP2016061762A (ja) * | 2014-09-22 | 2016-04-25 | カシオ計算機株式会社 | 電子機器及びセンサ較正方法、センサ較正プログラム |
JP2016114569A (ja) * | 2014-12-18 | 2016-06-23 | カシオ計算機株式会社 | 電子機器及びセンサ較正方法、センサ較正プログラム |
US11340249B2 (en) | 2017-12-25 | 2022-05-24 | Casio Computer Co., Ltd. | Electronic device, calibration control method, and storage medium storing program |
JP2019128205A (ja) * | 2018-01-23 | 2019-08-01 | カシオ計算機株式会社 | 磁気オフセット値算出方法及び磁気オフセット値算出プログラム、電子機器 |
JP7004155B2 (ja) | 2018-01-23 | 2022-01-21 | カシオ計算機株式会社 | 磁気オフセット値算出方法及び磁気オフセット値算出プログラム、電子機器 |
JP2020153664A (ja) * | 2019-03-18 | 2020-09-24 | Tdk株式会社 | 信号処理回路、位置検出装置および磁気センサシステム |
CN111707175A (zh) * | 2019-03-18 | 2020-09-25 | Tdk株式会社 | 信号处理电路、位置检测装置和磁传感器*** |
US11307052B2 (en) | 2019-03-18 | 2022-04-19 | Tdk Corporation | Signal processing circuit, position detection device, and magnetic sensor system |
Also Published As
Publication number | Publication date |
---|---|
US20140257731A1 (en) | 2014-09-11 |
EP2818828A1 (en) | 2014-12-31 |
EP2818828B1 (en) | 2016-11-16 |
EP2818828A4 (en) | 2015-04-01 |
JPWO2013125242A1 (ja) | 2015-07-30 |
CN103874904A (zh) | 2014-06-18 |
CN103874904B (zh) | 2016-02-24 |
JP5706576B2 (ja) | 2015-04-22 |
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