WO2016150312A1 - Procédé et appareil d'étalonnage de capteur géomagnétique, et dispositif intelligent - Google Patents

Procédé et appareil d'étalonnage de capteur géomagnétique, et dispositif intelligent Download PDF

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Publication number
WO2016150312A1
WO2016150312A1 PCT/CN2016/076227 CN2016076227W WO2016150312A1 WO 2016150312 A1 WO2016150312 A1 WO 2016150312A1 CN 2016076227 W CN2016076227 W CN 2016076227W WO 2016150312 A1 WO2016150312 A1 WO 2016150312A1
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geomagnetic sensor
data
zero offset
geomagnetic
gyroscope
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English (en)
Chinese (zh)
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沈慧
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Alibaba Group Holding Ltd
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Alibaba Group Holding Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth

Definitions

  • the present application relates to the field of magnetic calibration technology, and in particular, to a geomagnetic sensor calibration method, device and smart device.
  • Geomagnetic sensors, acceleration sensors, and gyro sensors have been installed, through which various functions including sensing user motion and estimating device orientation are performed.
  • the geomagnetic sensor is susceptible to the surrounding magnetic field, for example, when the mobile phone replaces the battery and opens or closes the LCD folder, the geomagnetic sensor is affected; when the mobile phone enters an environment with a magnetic or steel structure, the geomagnetic sensor also It will be affected; once the geomagnetic sensor is affected by the surrounding magnetic field, the zero point of the geomagnetic sensor will be offset, and calibration must be performed to determine the zero offset to ensure that the output value is correct.
  • the prior art geomagnetic sensor calibration scheme is implemented by prompting the user to trigger a calibration operation when it is found to be interfered by an external magnetic field; the user performs a manual operation according to the instruction (eg, drawing a character action, rotating the device to rotate the ball along the circle for one week) And so on; obtaining the data measured by the geomagnetic sensor when the user performs the manual operation, and using the least squares algorithm to fit the zero offset of the geomagnetic sensor according to the data.
  • the least squares algorithm fits the zero offset of the geomagnetic sensor, a large amount of geomagnetic sensor data is needed to ensure the accuracy of the fitting; if the amount of data is insufficient, for example, a certain amount of data should be distributed within the four quadrants of the coordinate system. If there is only one data in one quadrant, the deviation between the calculated zero offset of the geomagnetic sensor and the true offset is large; therefore, the calculation process is large, the response time is long, and the user experience is affected.
  • the technical problem to be solved by the present application is to provide a geomagnetic sensor calibration method for improving the geomagnetic sensor. Calibration efficiency.
  • the present application also provides a geomagnetic sensor calibration device and a smart device for ensuring the implementation and application of the above method in practice.
  • a geomagnetic sensor calibration method comprising:
  • the data of the geomagnetic sensor is filtered by the data of the gyroscope to obtain a zero offset of the geomagnetic sensor.
  • a geomagnetic sensor calibration apparatus comprising:
  • a monitoring unit for monitoring data of the geomagnetic sensor and data of the gyroscope
  • a calibration unit configured to perform filtering processing on the data of the geomagnetic sensor by using data of the gyroscope to obtain a zero offset of the geomagnetic sensor.
  • a smart device comprising a geomagnetic sensor, a gyroscope and a processor, the geomagnetic sensor calibration device being integrated on the processor.
  • the present application includes the following advantages:
  • the present application monitors the data of the geomagnetic sensor and the data of the gyroscope as the data basis for the calibration of the geomagnetic sensor, and is no longer simply based on the data of the geomagnetic sensor, which can save the acquisition time of the geomagnetic sensor data and save Calibrating the time; using the data of the gyroscope to filter the data of the geomagnetic sensor to obtain a zero offset of the geomagnetic sensor. Since the data of the gyroscope is to represent the rotation angle of the device, the rotation angle of the device is utilized. By filtering the data of the geomagnetic sensor, the zero offset of the geomagnetic sensor can be obtained. This filtering method requires less data amount, less calculation amount, and faster response, and can improve the calibration efficiency of the geomagnetic sensor.
  • Embodiment 1 is a flow chart of Embodiment 1 of a geomagnetic sensor calibration method of the present application
  • Embodiment 1 of a filtering processing method of the present application
  • Embodiment 3 is a flow chart of Embodiment 2 of a geomagnetic sensor calibration method of the present application
  • Embodiment 4 is a structural diagram of Embodiment 1 of a geomagnetic sensor calibration apparatus of the present application.
  • Fig. 5 is a structural diagram of a second embodiment of the geomagnetic sensor calibration apparatus of the present application.
  • This application can be used in a variety of general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, distributed computing environments including any of the above systems or devices, and the like.
  • the application can be described in the general context of computer-executable instructions executed by a computer, such as a program module.
  • program modules include routines, programs, objects, components, data structures, and the like that perform particular tasks or implement particular abstract data types.
  • the present application can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are connected through a communication network.
  • program modules can be located in both local and remote computer storage media including storage devices.
  • Embodiment 1 of a geomagnetic sensor calibration method of the present application may include the following steps:
  • the calibration method of this embodiment can be implemented according to different calibration strategies. Specifically, the calibration can be performed according to a user trigger request, periodic calibration can also be performed according to a preset period, and real-time calibration can also be performed.
  • the step may further include, before S101, triggering the operation of monitoring the data of the geomagnetic sensor and the data of the gyroscope in response to the geomagnetic sensor calibration operation triggered by the user on the device display interface.
  • the calibration period needs to be set in advance, such as half an hour, one hour, twelve hours, etc., that is, the monitoring is completed once every preset period of time is completed.
  • the preset period can also be dynamically changed, and the specific period length depends on actual needs.
  • the monitoring process is performed when the geomagnetic sensor and the gyroscope are in the working state when the device is started.
  • the method of monitoring the data of the geomagnetic sensor and the data of the gyroscope according to the preset period or real-time can ensure that the geomagnetic sensor is calibrated in time, reducing the user operation and improving the user experience.
  • S102 Filter data of the geomagnetic sensor by using data of the gyroscope to obtain a zero offset of the geomagnetic sensor.
  • this step may specifically adopt a real-time iterative filtering algorithm, and such an algorithm can realize real-time data processing, such as using a Kalman filtering algorithm or a particle filtering algorithm.
  • the zero offset of the geomagnetic sensor is calculated using the data of the gyroscope and the data of the geomagnetic sensor.
  • the physical essence is to fit the data measured by the geomagnetic sensor into a sphere. According to some points on the sphere and the angle between these points and the connection of the sphere, the center of the sphere can be quickly determined. Characterizing the zero offset of the geomagnetic sensor, the required data in this way is much smaller than the data required to fit the center of the sphere based on multiple points on the sphere.
  • the principle is the same, only a circle of the fit, the center of the circle is calculated, and the center of the circle is the zero offset of the geomagnetic sensor.
  • Embodiment 1 of a filtering processing manner of the present application is shown, and the processing procedure may include the following steps:
  • S201 Establish a prediction matrix in a filtering process according to the data of the gyroscope; the prediction matrix is used to represent an actual geomagnetic field and a variation relationship between a zero offset of the geomagnetic sensor between adjacent monitoring times.
  • the prediction matrix is established as follows:
  • w (k-1)x , w (k-1)y , w (k-1)z represent the data of the three-axis direction of the gyroscope in the monitored k-1th state
  • I denotes an identity matrix
  • ⁇ k,k-1 denotes a prediction matrix whose physical meaning is the rate of change between the actual geomagnetic field between the k-1th and kth moments and the zero offset of the geomagnetic sensor.
  • ⁇ t represents the time interval of the adjacent monitoring time of the k-1th and kth states.
  • the observation matrix is used to represent a correspondence relationship between the observed geomagnetic field and the zero offset of the geomagnetic sensor and the actual geomagnetic field.
  • the observation matrix is established as follows:
  • H represents the observation matrix
  • this step specifically includes:
  • the basic formula of the Kalman filter includes an estimated value covariance formula and an estimated value formula
  • the process of processing the zero offset of the geomagnetic sensor by the Kalman filtering process is explained below by taking a specific implementation process as an example. The following is only taking a three-axis geomagnetic sensor as an example.
  • the two-dimensional geomagnetic sensor has the same basic principle and will not be described here.
  • k-1) represents the predicted value of the kth state
  • ⁇ k, k-1 represents the prediction matrix
  • k-1) represents the optimal estimated value of the k-1th state
  • k-1) represents the covariance corresponding to X(k
  • k-1) represents the covariance corresponding to X(k-1
  • Q represents the prediction error matrix of the system.
  • X(kk) represents an optimum estimate of the kth state
  • Kg(k) represents a Kalman gain
  • Z k represents an observation value of the kth state
  • H represents an observation matrix
  • H T represents a transposed matrix of H.
  • k) represents the covariance corresponding to the kth state X(k
  • Q and R are implemented, they are set to a fixed value.
  • Equation (1) represents a state prediction process, and the value of the kth state is predicted based on the state of the k-1th.
  • Equation (2) represents the process of pre-estimating the covariance, predicting the covariance of the kth state.
  • Equation (3) represents that the optimum estimation value in the kth state is obtained from the predicted value in the kth state and the measured value in the kth state.
  • Equation (3) is the state update process.
  • Equation (4) represents the Kalman gain matrix in the kth state.
  • Equation (5) represents the covariance value corresponding to the optimal estimated value in the kth state.
  • k) of the formula (5) is P(k-1
  • the zero point of the geomagnetic sensor can be determined according to the data in formula (3) in the kth state. Transfer amount.
  • 0) of two zero moments need to be set in advance.
  • 0) can be set according to the first value (x1, y1, z1) of the monitored geomagnetic sensor, such as (x1, y1, z1, 0, 0, 0) or The last converged X value after one calibration is taken as the initial value of the current state; the initial value of P(0
  • X gradually converges, and the convergence degree of X is judged according to the value of P.
  • X is a matrix of 1 row and 6 columns, the first three columns are geomagnetic field values, and the last three columns are The zero offset of the three-axis of the geomagnetic sensor.
  • Embodiment 1 of the geomagnetic sensor calibration method of the present application may include the following steps:
  • S302 Filter data of the geomagnetic sensor by using data of the gyroscope to obtain a zero offset of the geomagnetic sensor.
  • S301 and S302 are the same as S101 and S102 in the foregoing embodiment, and details are not described herein again.
  • the zero offset of the geomagnetic sensor and the geomagnetic sensor data after the filtering process can be obtained.
  • the data of the geomagnetic sensor after the filtering process is mapped to the geodetic coordinate system, and the geographical location information is finally It is to be displayed on the device for the user to view, so it is also necessary to map the data in the geodetic coordinate system to the axis direction of the device.
  • the location data here differs according to the different devices, or according to different applications within the device, for example, when the device is a compass, or when the compass application is installed in the device, the location data here includes the orientation and angle, for example 225 degrees southwest, 194 degrees south.
  • the location data here includes latitude and longitude information, and may also include height information, such as GPS latitude and longitude information (assumed to be: 30.524561, 104.052798), and altitude information (elevation) The height is 2001.8 meters).
  • the magnetic sensor calibration apparatus embodiment 1 is provided.
  • the apparatus may include:
  • a monitoring unit 401 configured to monitor data of the geomagnetic sensor and data of the gyroscope
  • the calibration unit 402 is configured to perform filtering processing on the data of the geomagnetic sensor by using data of the gyroscope to obtain a zero offset of the geomagnetic sensor.
  • the monitoring unit may periodically or in real time monitor the data of the geomagnetic sensor and the data of the gyroscope according to a preset period; or perform monitoring according to the user trigger request.
  • the device in this embodiment further includes: a calibration trigger unit, The operation of monitoring the data of the geomagnetic sensor and the data of the gyroscope is triggered in response to a geomagnetic sensor calibration operation triggered by the user at the device display interface.
  • the calibration unit is specifically configured to:
  • the Kalman filter algorithm or the particle filter algorithm is used to filter the data of the geomagnetic sensor by using the data of the gyroscope to obtain a zero offset of the geomagnetic sensor.
  • the calibration unit includes:
  • a prediction matrix establishing subunit configured to establish a prediction matrix in a filtering process according to the data of the gyroscope; the prediction matrix is used to represent an actual geomagnetic field and a zero offset of the geomagnetic sensor at an adjacent monitoring time Relationship between changes;
  • An observation matrix establishing subunit configured to establish an observation matrix of a filtering process according to data of the geomagnetic sensor; the observation matrix is used to represent between an observed geomagnetic field and a zero offset of the geomagnetic sensor and an actual geomagnetic field Correspondence relationship;
  • a filtering subunit configured to perform a filtering process on the geomagnetic sensor according to the prediction matrix and the observation matrix to obtain a zero offset of the geomagnetic sensor by using a Kalman filtering algorithm or a particle filtering algorithm.
  • the filtering subunit includes:
  • a Kalman filter sub-unit configured to establish a basic formula of the Kalman filter by using the prediction matrix and the observation matrix;
  • the basic formula of the Kalman filter includes an estimated value covariance formula and an estimated value formula;
  • a determining subunit configured to calculate a current estimated value covariance according to the estimated value covariance formula, and determine whether the current estimated value covariance is less than a preset threshold, and if yes, determine the geomagnetic sensor according to the current estimated value The zero offset.
  • the present application further provides Embodiment 2 of the geomagnetic sensor calibration apparatus.
  • the apparatus may include:
  • a monitoring unit 501 configured to monitor data of the geomagnetic sensor and data of the gyroscope
  • the calibration unit 502 is configured to perform filtering processing on the data of the geomagnetic sensor by using data of the gyroscope to obtain a zero offset of the geomagnetic sensor.
  • the coordinate mapping unit 503 is configured to map the data of the geomagnetic sensor to the geodetic coordinate system according to the data of the geomagnetic sensor after the filtering process, the zero offset of the geomagnetic sensor, and the data of the acceleration sensor, and the geodetic coordinates
  • the geomagnetic sensor data is mapped to the axis direction of the device to obtain position data;
  • the location display unit 504 is configured to display the location data on the device display interface in response to a location display operation triggered by the user on the device display interface.
  • the geomagnetic sensor calibration device monitors the data of the geomagnetic sensor and the data of the gyroscope as the data basis for the calibration of the geomagnetic sensor, and is no longer simply based on the data of the geomagnetic sensor, which can save data.
  • the acquisition time saves the calibration time; the data of the geomagnetic sensor is filtered by the data of the gyroscope to obtain the zero offset of the geomagnetic sensor. Since the data of the gyroscope is indicative of the rotation angle of the device, By using the rotation angle of the device to filter the data of the geomagnetic sensor, the zero offset of the geomagnetic sensor can be obtained. This filtering method requires less data, less calculation, and faster response.
  • the present application also provides a smart device including a geomagnetic sensor, a gyroscope, and a processor on which the aforementioned geomagnetic sensor calibration device is integrated.
  • the smart device may be a smart phone, a tablet, a smart bracelet, a handheld GPS, or the like.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
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Abstract

L'invention concerne un procédé et un appareil d'étalonnage d'un capteur géomagnétique, et un dispositif intelligent. Le procédé consiste à : surveiller les données d'un capteur géomagnétique et les données d'un gyroscope (S101, S301) ; et exécuter un traitement de filtrage sur les données du capteur géomagnétique en utilisant les données du gyroscope, de manière à obtenir un décalage nul du capteur géomagnétique (S102, S302). En utilisant les données du gyroscope en tant que données d'étalonnage, une grande quantité de calcul de données du capteur géomagnétique ainsi que la durée d'acquisition des données sont réduites, la quantité de calcul est faible et la réponse est rapide dans tout le processus, et l'efficacité d'étalonnage du capteur géomagnétique peut être améliorée.
PCT/CN2016/076227 2015-03-20 2016-03-14 Procédé et appareil d'étalonnage de capteur géomagnétique, et dispositif intelligent Ceased WO2016150312A1 (fr)

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