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Two-dimensional electronic compass calibration algorithm

A compass and algorithm technology, which is applied in the direction of measuring devices, surveying and navigation, compass, etc., can solve the problems of uncorrectable errors, complicated calibration process, and inability to realize automatic calibration, etc., and achieve high accuracy and automatic compensation of magnetic sensor errors and accuracy Improved effect

Active Publication Date: 2010-08-18
MEMSIC SEMICON WUXI
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AI Technical Summary

Problems solved by technology

[0011] The technical problem to be solved by the present invention is that the geomagnetic calibration algorithm of the existing electronic compass is not only complicated in the calibration process, but cannot achieve the optimal matching at the graphic level, cannot accurately compensate the sensitivity error on each axis of the general magnetic sensor, and cannot correct it. The error caused by the non-orthogonality of the axes of the general magnetic sensor cannot realize automatic calibration, and it cannot be better compatible with different types of magnetic sensors

Method used

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specific Embodiment approach

[0039] The specific implementation method includes the following steps:

[0040] 1. Create a special ellipse—a unit circle whose center is at the origin of the X / Y coordinate system of the magnetic sensor and whose radius is 1.

[0041] 2. Collect magnetic sensor data, obtain the maximum / minimum value coordinates of the current surrounding magnetic field magnetic induction intensity and save it; at the same time, perform numerical mapping on the data, and project the data into the numerical range that the embedded processor can accommodate; which involves the use of The formula is:

[0042] A=A*(R max -R min ) / (A max -A min )

[0043] Among them: A represents the data to be mapped, R max / R min Indicates the maximum and minimum values ​​of the mapped data, A max / A min Indicates the maximum and minimum values ​​of the data to be mapped.

[0044] 3. Judging the quality fraction of the sampling point to the current ellipse, if it exceeds the preset threshold, then go t...

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Abstract

The invention discloses a two-dimensional electronic compass calibration algorithm, which comprises the following steps: firstly, establishing a special ellipse-unit circle; continuously obtaining physical quantity grade magnetic data collected by a magnetic sensor; updating the maximum value / minimum value of the magnetic physical quantity data; using the maximum value / minimum value of the magnetic physical quantity data for dynamically calculating the geometric center of the ellipse; introducing the geometric center of the ellipse and different sampling points in two times into an ellipse standard equation for calculating the major semi axis / minor semi axis parameters of the ellipse equation; further calculating the sensitivity error and the nonorthogonality caused by self errors of the magnetic sensor, and carrying out the compensation. The two-dimensional electronic compass calibration algorithm of the invention is based on the ellipse fitting method of the least square method, and realizes the novel and simple calibration of a two-dimensional compass in a mathematical layer.

Description

technical field [0001] The invention relates to a two-dimensional electronic compass calibration algorithm. Background technique [0002] At present, there are few applications of two-dimensional electronic compass in the industry, especially in the field of mobile phone equipment. [0003] The commonly used two-dimensional electronic compass algorithm requires the user to make the device rotate more than two turns (about two and a half turns) when performing geomagnetic calibration. Among them, first rotate about half a circle to establish a temporary coordinate system for monitoring the rotation action; secondly, turn the first circle to collect the maximum / minimum value of the data, and then calculate the geometric center; finally turn the second circle to find the distance from each point to the geometric center , and then the sensitivity error of the orthogonal axis of the magnetic sensor is obtained. [0004] The above calibration algorithm has the following drawback...

Claims

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Application Information

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IPC IPC(8): G01C17/38
Inventor 周宏继荣毅曹海军司学琴赵华东
Owner MEMSIC SEMICON WUXI
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