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Apparatus and method of compensating for the attitude change of an earth magnetic sensor

A geomagnetic sensor and sensor technology, applied in instruments, ground navigation, surveying and navigation, etc., can solve problems such as increasing errors and compensating

Inactive Publication Date: 2004-06-02
朴赞国 +1
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Problems solved by technology

[0009] However, due to the problem of the installation position of the sensor, when using the dual-axis geomagnetic sensor, the error cannot be compensated only by the developed error compensation technology, so the calculated azimuth increases the error according to the size of the attitude

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  • Apparatus and method of compensating for the attitude change of an earth magnetic sensor

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Embodiment Construction

[0023] Now, an apparatus and method for calculating an azimuth according to preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, in which like reference numerals refer to like components.

[0024] figure 1 It is a schematic diagram illustrating a method for calculating an azimuth angle through an attitude compensation error generated by a dual-axis geomagnetic sensor according to the present invention. The method includes a dual-axis geomagnetic sensor 101, an inclinometer 102, an attitude (ie coordinate) transformation matrix 103, generation 104 of virtual Z-axis geomagnetic data, conversion 105 of geomagnetic data coordinates and calculation 106 of azimuth angle.

[0025] The geomagnetic sensor 101 can be a magnetic flux gate sensor or a magnetoresistive (MagnetoResistive, MR), which is used to measure the strength of the geomagnetic field, and includes an X-axis in the forward direction of the sensor module ...

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Abstract

An apparatus and method of compensating for the change of an earth magnetic sensor output according to an attitude (roll and pitch) using an inclinometer in the case of calculating azimuth information using a two-axis earth magnetic sensor is disclosed. The attitude of the earth magnetic sensor module is measured using the inclinometer, and a coordinate conversion matrix for converting a body coordinate system to a horizontal coordinate system is calculated. Z-axis direction virtual earth magnetic data at the present attitude of the earth magnetic sensor module is generated using the output of the two-axis earth magnetic sensor and the calculated attitude information. After the generated Z-axis earth magnetic data and the measured X-axis and Y-axis earth magnetic data are converted into the horizontal coordinate system, the calculated azimuth angle is considered as the azimuth angle of the earth magnetic sensor module.

Description

[0001] Cross References to Related Applications [0002] This application claims the benefit of Korean Patent Application No. 2002-0046366 filed on August 6, 2002, the entire contents of which are hereby incorporated by reference. technical field [0003] The invention relates to a measurement device and a calculation method for calculating accurate azimuth information by compensating the attitude error of the geomagnetic sensor by using the relevant information of the geomagnetic field obtained by a biaxial geomagnetic sensor and an inclinometer. Background technique [0004] So far, there have been a lot of researches on methods and devices for calculating orientation information of vehicles or sensing modules moving in free space by using geomagnetic sensors such as flux gates. However, flux gates are only used in the marine field due to their high price and bulky size. [0005] Recently, small and low-cost geomagnetic sensor modules have been developed, and in particula...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C17/16G01C17/38G01C21/20
CPCG01C17/38G01C21/20
Inventor 崔相彦曹宇钟李宇钟朴赞国赵星闰
Owner 朴赞国
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