Geomagnetic sensor testing device, method, electronic device and readable storage medium

Abstract

The present invention proposes a geomagnetic sensor testing device, method, electronic device and readable storage medium, which can simulate a three-dimensional magnetic field by setting a first coil unit, a second coil unit and a third coil unit that are perpendicular to each other. At the same time, in the first coil unit, a first coil group, a second coil group and a third coil are set, so that the magnetic field uniformity can be better ensured in the magnetic field direction of the first coil unit, thereby improving the test accuracy of the geomagnetic sensor based on the simulated three-dimensional magnetic field.

Description

Technical Field

[0001] The present invention relates to the field of equipment testing, and in particular to a geomagnetic sensor testing device, method, electronic equipment and readable storage medium. Background Art

[0002] With the development of wearable electronic technology, some smart sports watches are equipped with three-axis geomagnetic sensors to assist in realizing the global positioning system GPS function and the compass function; specifically, the geomagnetic sensor is used to calculate the moving direction of the smart sports watch; however, due to the influence of various factors such as materials, processes, assembly, and environment, there are deviations in the detection ability of the three-axis geomagnetic sensors of the produced smart sports watches. Therefore, it is necessary to test and calibrate the three-axis geomagnetic sensors of the smart sports watches before leaving the factory; however, the test accuracy of the three-axis geomagnetic sensor in the prior art is low and cannot meet the application requirements. Summary of the invention

[0003] The main purpose of the present invention is to provide a geomagnetic sensor testing device, method, electronic device and readable storage medium, aiming to solve the problem of low testing accuracy of three-axis geomagnetic sensors in the prior art.

[0004] To achieve the above-mentioned object, the present invention provides a geomagnetic sensor testing device, which includes a magnetic field simulation module and a processing module; the magnetic field simulation module includes a first coil unit, a second coil unit and a third coil unit, the magnetic field directions of which are perpendicular to each other; wherein the first coil unit includes a first coil group, a second coil group and a third coil; wherein:

[0005] The first coil group is arranged between the second coil groups, and the third coil is arranged between the first coil groups;

[0006] The output end of the processing module is connected to the coil in the magnetic field simulation module, the acquisition end of the processing module is connected to the target device, and the coil center of the third coil is the test position of the target device; wherein:

[0007] The processing module is used to output a driving current corresponding to the target magnetic field to the coil in the magnetic field simulation module, so that the magnetic field simulation module constructs the target magnetic field;

[0008] The processing module is further used to obtain a detection signal of the target device based on the target magnetic field, and test the geomagnetic sensor of the target device according to the detection signal.

[0009] To achieve the above object, the present invention further provides a geomagnetic sensor testing method, which is applied to the geomagnetic sensor testing device as described above, and comprises:

[0010] Determine a target magnetic field, and send a driving current corresponding to the target magnetic field to a magnetic field simulation module;

[0011] Acquire a detection signal of a target device based on the target magnetic field;

[0012] The geomagnetic sensor of the target device is tested according to the detection signal.

[0013] To achieve the above objectives, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the geomagnetic sensor testing method as described above when executed by the processor.

[0014] To achieve the above object, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the geomagnetic sensor testing method as described above are implemented.

[0015] The present invention proposes a geomagnetic sensor testing device, method, electronic device and readable storage medium, which can simulate a three-dimensional magnetic field by setting a first coil unit, a second coil unit and a third coil unit that are perpendicular to each other. At the same time, in the first coil unit, a first coil group, a second coil group and a third coil are set, so that the magnetic field uniformity can be better ensured in the magnetic field direction of the first coil unit, thereby improving the test accuracy of the geomagnetic sensor based on the simulated three-dimensional magnetic field. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 It is a structural schematic diagram of the first coil unit in the geomagnetic sensor testing device of the present invention;

[0019] Figure 2 It is a structural schematic diagram of a magnetic field simulation module in a geomagnetic sensor testing device of the present invention;

[0020] Figure 3 This is an X-axis viewing angle diagram of the magnetic field simulation module in the geomagnetic sensor testing device of the present invention;

[0021] Figure 4 It is a schematic diagram of the overall structure of the geomagnetic sensor testing device of the present invention;

[0022] Figure 5 It is a schematic diagram of the process of the geomagnetic sensor testing device of the present invention;

[0023] Figure 6 It is a schematic diagram of the module structure of the electronic device of the present invention.

[0024] Description of Figure Numbers:

[0025] Label name Label name 1 shell Y11 The first sub coil 2 Processing Unit Y12 The second sub coil 3 Drive unit Y13 The third sub coil 4 Magnetic Field Simulation Module Y14 The fourth sub-coil 5 Hand lever Y3 The third coil 6 Telescopic hole X15 Fifth sub-coil 7 Magnetic shielding box X16 The sixth sub-coil 8 Target devices Z17 Seventh sub-coil 9 Triaxial Gaussmeter Z18 The eighth sub-coil 11 Motion detection module DETAILED DESCRIPTION

[0026] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work should fall within the scope of protection of the present application.

[0027] The present invention provides a geomagnetic sensor testing device, which includes a magnetic field simulation module 4 and a processing module; the magnetic field simulation module 4 includes a first coil unit, a second coil unit and a third coil Y3 with magnetic field directions perpendicular to each other; wherein the first coil unit includes a first coil group, a second coil group and a third coil Y3; wherein:

[0028] The first coil group is arranged between the second coil groups, and the third coil Y3 is arranged between the first coil groups;

[0029] The output end of the processing module is connected to the coil in the magnetic field simulation module 4, the acquisition end of the processing module is connected to the target device 8, and the coil center of the third coil Y3 is the test position of the target device 8; wherein:

[0030] The processing module is used to output a driving current corresponding to the target magnetic field to the coil in the magnetic field simulation module 4, so that the magnetic field simulation module 4 constructs the target magnetic field;

[0031] The processing module is further used to obtain a detection signal of the target device 8 based on the target magnetic field, and test the geomagnetic sensor of the target device 8 according to the detection signal.

[0032] The first coil unit, the second coil unit and the third coil Y3 are respectively used to simulate a magnetic field in one direction; at the same time, the directions of the magnetic fields simulated by the three coil units are perpendicular to each other, such as the magnetic field direction of the first coil unit corresponds to the Y-axis direction in the three-dimensional coordinate system, the magnetic field direction of the second coil unit corresponds to the X-axis direction in the three-dimensional coordinate system, and the magnetic field direction of the third coil Y3 corresponds to the Z-axis direction in the three-dimensional coordinate system; when the three coil units simulate magnetic fields in three directions at the same time, the superposition of the magnetic fields in the three directions can realize the simulation of the three-dimensional magnetic field.

[0033] It can be understood that each coil unit is composed of multiple coils. For a single coil unit, the magnetic field directions of the coils contained therein are all the same when energized, that is, the magnetic field direction of the coil unit. Figure 1 In this embodiment and subsequent embodiments, the magnetic field direction of the first coil unit corresponds to the Y-axis direction as an example, and the magnetic field directions of all coils included in the first coil unit are all in the Y-axis direction.

[0034] The coil group includes two coils with the same parameters and the same magnetic field direction; for example, the first coil group includes the first sub-coil Y11 and the second sub-coil Y12, and the second coil group includes the third sub-coil Y13 and the fourth sub-coil Y14; wherein the first sub-coil Y11 and the second sub-coil Y12 are consistent in shape and size, and the third sub-coil Y13 and the fourth sub-coil Y14 are consistent in shape and size; in order to make the simulated magnetic field uniform, the coils in the coil group need to be symmetrically arranged relative to the magnetic field. Specifically, the specific arrangement positions of the first coil group, the second coil group and the third coil Y3 are the first sub-coil Y11, the third sub-coil Y13, the third coil Y3, the fourth sub-coil Y14 and the second sub-coil Y12, respectively, and the above five coils are coaxially arranged; the third coil Y3 is arranged at the coordinate origin of the spatial coordinate system, the third sub-coil Y13 and the fourth sub-coil Y14 are at the same distance relative to the third coil Y3, and the first sub-coil Y11 and the second sub-coil Y12 are at the same distance relative to the third coil Y3.

[0035] According to the Biot-Savart law and the principle of magnetic field superposition, the magnetic induction intensity By1 of the first coil group in the direction of its magnetic field is:

[0036]

[0037] Wherein, μ is the air magnetic permeability, Iy is the driving current of the first sub-coil Y11 and the second sub-coil Y12, R3 is the radius of the coil in the first coil group, L1 is the distance between the coil in the second coil group and the third coil Y3, L2 is the distance between the third sub-coil Y13 and the first sub-coil Y11 or the fourth sub-coil Y14 and the second sub-coil Y12, and y is the distance from the coordinate origin;

[0038] The magnetic induction intensity By2 of the second coil group in the direction of its magnetic field is:

[0039]

[0040] The magnetic induction intensity By3 of the third coil Y3 in the direction of its magnetic field is:

[0041]

[0042] Wherein, k is the proportional coefficient of the driving current of the third coil Y3;

[0043] The magnetic flux density B in the Y-axis direction formed by the first coil unit y It is the superposition of multiple magnetic induction intensities, that is:

[0044] By=By1+By2+By3

[0045] It can be seen from the above formula that, when the radius and setting distance of each coil are fixed, when only the first coil group is set on the Y-axis, the magnetic field strength is By1, when the second coil group is added, the magnetic field strength is superimposed by By2, that is, By1+By2, and when the third coil Y3 is added, By3 is superimposed again, that is, By1+By2+By3; when the magnetic field strength to be simulated remains unchanged, compared with the solution of only setting the first coil group and other fewer coils, the solution of this embodiment requires a smaller driving current, which can effectively reduce the geomagnetic interference during coil coupling. At the same time, the required coil radius is also smaller, which can reduce the volume of the geomagnetic sensor test device.

[0046] From the above formula, we can get the magnetic field intensity By0 at the origin of the coordinate system as By when y=0;

[0047] Let the deviation ε between the magnetic field intensity at the point on the Y axis and the origin of the coordinate system be:

[0048]

[0049] Then, when only the first coil group is set, the corresponding deviation ε1 is:

[0050]

[0051] When the first coil group and the second coil group are set at the same time, the corresponding deviation ε1 is:

[0052]

[0053] When the first coil group, the second coil group and the third coil Y3 are provided at the same time, the corresponding deviation ε3 is:

[0054]

[0055] It can be seen from the above formula that, when the radius and setting position of each coil are determined, ε1<ε2<ε3≤1. When the first coil group and the second coil group are set, the low-order remainder of the magnetic field expression in the central magnetic field uniform area can be eliminated. After further adding the third coil Y3, the Taylor formula is used to expand the low-order remainder to a higher degree, and the magnetic field uniformity is better, so the error caused by the deviation from the center point caused by the coil installation can be rapidly attenuated.

[0056] At the same time, it can be seen that the magnetic field strength, magnetic field uniformity, coil radius and setting position are related. Therefore, in practical applications, the coil radius and setting position can be set based on the size of the geomagnetic sensor that actually needs to be tested or the size of the target device 8; for example, if the target device 8 is a smart watch, and the thickness of a smart watch is generally less than 20 mm, therefore, the coil radius and setting position can be set to achieve a uniform magnetic field in the X-axis 50 mm, Y-axis 50 mm, and Z-axis 25 mm area. The specific coil radius and setting position can be determined based on specific debugging.

[0057] Through the above configuration, this embodiment enables accurate and uniform magnetic field simulation based on the magnetic field simulation module 4 ; the magnetic field simulated by the magnetic field simulation module 4 can test the geomagnetic sensor of the target device 8 .

[0058] It can be understood that the test of the geomagnetic sensor is mainly to test the detection accuracy of the geomagnetic sensor for the magnetic field. In the specific test, the required target magnetic field is first constructed through the magnetic field simulation module 4. The geomagnetic sensor detects in the target magnetic field to obtain a detection signal. The processing module determines the degree of consistency between the detection signal and the target magnetic field to detect the accuracy of the geomagnetic sensor. At the same time, a calibration value can be generated based on the detection signal and the target magnetic field, and the calibration value is written into the target device 8 to calibrate the geomagnetic sensor in the target device 8.

[0059] This embodiment can simulate a three-dimensional magnetic field by setting a first coil unit, a second coil unit and a third coil Y3 that are perpendicular to each other. At the same time, in the first coil unit, a first coil group, a second coil group and a third coil Y3 are set, so that the magnetic field uniformity can be better ensured in the magnetic field direction of the first coil unit, thereby improving the test accuracy of the geomagnetic sensor based on the simulated three-dimensional magnetic field.

[0060] Further, see Figure 2 and Figure 3 The coil in the first coil unit is perpendicular to the Y axis and the center point of the coil is located on the Y axis, the coil in the second coil unit is perpendicular to the X axis and the center point of the coil is located on the X axis, and the coil in the third coil Y3 is perpendicular to the Z axis and the center point of the coil is located on the Z axis.

[0061] The first coil unit is used to generate a magnetic field in the Y-axis direction, the second coil unit is used to generate a magnetic field in the X-axis direction, and the third coil Y3 is used to generate a magnetic field in the Z-axis direction; through the joint action of the first coil unit, the second coil unit and the third coil Y3, a three-dimensional magnetic field can be constructed.

[0062] Further, the coil in the first coil unit is circular, the coil in the second coil unit is square, and the coil in the third coil Y3 is square.

[0063] It can be understood that the rectangular coil, specifically the square coil in this embodiment, has higher processing accuracy and is more convenient and accurate to install; while the circular coil has lower processing accuracy than the rectangular coil and is more difficult to install, but has higher magnetic field uniformity; therefore, in this embodiment, the main magnetic field direction, that is, the coil in the first coil unit corresponding to the Y-axis is set to a circular coil to improve the magnetic field uniformity. At the same time, due to the setting of five coils in the first coil unit, the first coil unit can tolerate higher installation errors, thereby taking into account both installation accuracy and magnetic field uniformity; for the second coil unit and the third coil Y3, rectangular coils can be used to ensure installation accuracy, thereby reducing manufacturing and installation costs.

[0064] It should be noted that the shape of the coils in each coil unit can also be set based on actual needs, such as setting all coils to be circular, setting all coils to be square, etc.

[0065] Further, the second coil unit includes a pair of third coils Y3, wherein the pair of third coils Y3 are symmetrically arranged based on the coil center of the third coil Y3.

[0066] From the above description, it can be seen that the coil center of the third coil Y3 is the coordinate origin of the space coordinate system; and the third coil Y3 pair is symmetrically arranged based on the coil center of the third coil Y3, that is, the third coil Y3 is symmetrically arranged based on the coordinate origin of the space coordinate system; specifically, the third coil Y3 pair includes the fifth sub-coil X15 and the sixth sub-coil X16, the fifth sub-coil X15 and the sixth sub-coil X16 are coaxially arranged and the coil center is arranged on the X-axis.

[0067] According to the Biot-Savart law and the principle of magnetic field superposition, the magnetic induction intensity Bx of the third coil Y3 in the direction of its magnetic field is:

[0068]

[0069] Wherein, L3 is the distance between the fifth sub-coil X15 or the sixth sub-coil X16 and the coordinate origin, L4 is the side length of the fifth sub-coil X15 or the sixth sub-coil X16, x is the distance from the coordinate origin, and I xis the driving current of the fifth sub-coil X15 and the sixth sub-coil X16.

[0070] It should be noted that the specific structure of the second coil unit can also be set based on actual needs, such as setting a plurality of coil groups.

[0071] Further, the third coil Y3 includes a fourth coil group, wherein the fourth coil group is symmetrically arranged based on the coil center of the third coil Y3.

[0072] It can be seen from the above description that the coil center of the fourth coil is the origin of the coordinate system of the space coordinate system; and the fourth coil group is symmetrically arranged based on the coil center of the fourth coil, that is, the fourth coil is symmetrically arranged based on the origin of the coordinate system of the space coordinate system; specifically, the fourth coil group includes the seventh sub-coil Z17 and the eighth sub-coil Z18, and the seventh sub-coil Z17 and the eighth sub-coil Z18 are coaxially arranged and the coil center is arranged on the Z axis. It should be noted that the specific structure of the second coil unit can also be arranged based on actual needs, such as setting multiple coil groups.

[0073] According to the Biot-Savart law and the principle of magnetic field superposition, the magnetic induction intensity Bz of the third coil Y3 in the direction of its magnetic field is:

[0074]

[0075] Wherein, L5 is the distance between the seventh sub-coil Z17 or the eighth sub-coil Z18 and the coordinate origin, L6 is the side length of the seventh sub-coil Z17 or the eighth sub-coil Z18, z is the distance from the coordinate origin, I z is the driving current of the seventh sub-coil Z17 and the eighth sub-coil Z18.

[0076] According to the principle of magnetic field superposition, the three-dimensional vector magnetic field formed by the first sub-coil Y11 to the eighth sub-coil Z18 and the third coil Y3 is:

[0077]

[0078] Further, see Figure 4 , the processing module includes a processing unit 2, a driving unit 3 and a magnetic field standard unit; the acquisition end of the processing unit 2 is connected to the target device 8, the output end of the processing unit 2 is connected to the control end of the driving unit 3, the output end of the driving unit 3 is connected to the coil in the magnetic field simulation module 4, the input end of the processing unit 2 is connected to the magnetic field standard unit, and the magnetic field standard unit is set in the target magnetic field; wherein:

[0079] The processing unit 2 is used to determine a current signal corresponding to a target magnetic field, and send the current signal to the driving unit 3;

[0080] The driving unit 3 is used to output the driving current to the coil in the magnetic field simulation module 4 according to the current signal, so that the magnetic field simulation module 4 constructs the target magnetic field;

[0081] The magnetic field standard unit is used to detect the magnetic field signal of the target magnetic field and send the magnetic field signal to the processing unit 2;

[0082] The processing unit 2 is used to obtain a detection signal of the target device 8 based on the target magnetic field, and test the geomagnetic sensor of the target device 8 according to the detection signal and the magnetic field signal.

[0083] From the above description of the magnetic field simulation module 4, it can be seen that the magnetic field simulated by the magnetic field simulation module 4 is constructed by outputting a driving current to the corresponding coil; different driving currents correspond to different magnetic fields, therefore, it is necessary to determine the target magnetic field, and further determine the current signal corresponding to the target magnetic field; it can be understood that after each coil is set up, the correspondence between the magnetic field and the driving current is relatively certain, therefore, the correspondence between the magnetic field and the driving current can be obtained in advance, thereby determining the current signal corresponding to the target magnetic field based on the correspondence.

[0084] The driving unit 3 outputs a corresponding driving current to a corresponding coil in the magnetic field simulation module 4 based on the current signal, so that the magnetic field simulation module 4 constructs a target magnetic field corresponding to the current signal.

[0085] After the target magnetic field is constructed, the geomagnetic sensor in the target device 8 detects the target magnetic field to obtain a detection signal, and sends the detection signal to the processing unit 2; at the same time, the magnetic field standard unit detects the target magnetic field to obtain a magnetic field signal, and sends the magnetic field signal to the processing unit 2; it can be understood that the magnetic field standard unit is a calibrated magnetic field detection device, specifically a three-axis Gaussmeter 9, that is, the magnetic field standard unit can accurately detect the relevant data of the target magnetic field.

[0086] After receiving the magnetic field signal and the detection signal, the processing unit 2 can determine the detection condition of the detection signal by comparing the magnetic field signal with the detection signal because the magnetic field signal can accurately indicate the target magnetic field, that is, the magnetic field signal can be considered as a standard signal. For example, when the detection signal is consistent with the magnetic field signal, it is considered that the geomagnetic sensor of the target device 8 has accurate detection, and when the detection signal is significantly different from the magnetic field signal, it is considered that the detection deviation of the geomagnetic sensor of the target device 8 is relatively large.

[0087] It is understandable that in order to ensure the accuracy of the test, the geomagnetic sensor and the magnetic field standard unit of the target device 8 should be set at the center of the target magnetic field as much as possible, so as to reduce the influence of the position on the detection situation.

[0088] Furthermore, the processing module further comprises a motion detection module 11, and an output end of the motion detection module 11 is connected to a motion acquisition end of the processing unit 2;

[0089] The motion detection module 11 is used to detect the motion state of the geomagnetic sensor testing device, obtain a motion signal, and send the motion signal to the processing unit 2.

[0090] It is understandable that in actual applications, there are some scenarios that will cause the geomagnetic sensor testing device to vibrate, such as when the target device 8 is not placed horizontally, the center of the target device 8 does not reach the center coordinate origin of the geomagnetic sensor testing device, the user touches the testing device, etc. The vibration of the geomagnetic sensor testing device will cause the position of the components and the target device 8 in the device to shift, thereby making the test results inaccurate; therefore, in this embodiment, a motion detection module 11 is set to detect the motion state of the geomagnetic sensor testing device, so as to ensure that the test is performed when the geomagnetic sensor testing device is in a stationary state, thereby ensuring the test results.

[0091] The specific type of the motion detection module 11 can be set based on actual needs, such as a three-axis accelerometer or a three-axis gyroscope.

[0092] Furthermore, the geomagnetic sensor testing device further comprises a magnetic shielding box 7 , and the magnetic field simulation module 4 is arranged in the magnetic shielding box 7 .

[0093] It is understandable that there are magnetic fields in the environment itself, including but not limited to geomagnetism and magnetic fields of electronic equipment. Therefore, if the geomagnetic sensor is tested directly in the environment, it will be greatly affected by the environmental magnetic field and the test cannot be accurately carried out. In this embodiment, a magnetic shielding box 7 is provided to shield the environmental magnetic field. The specific material and structure of the magnetic shielding box 7 can be selected based on actual needs, such as high magnetic permeability such as Permalloy or silicon steel sheet.

[0094] The magnetic field simulation module 4 is arranged in the magnetic shielding box 7, so that when the test is performed, there is only the target magnetic field constructed by the magnetic field simulation module 4 in the magnetic shielding box 7, thereby avoiding the influence of the environmental magnetic field. It can be understood that the magnetic field standard unit in the processing module is arranged in the magnetic shielding box 7, and the processing unit 2 and the driving unit 3 are composed of electronic devices. Therefore, in order to avoid electromagnetic influence, the processing unit 2 is arranged outside the magnetic shielding box 7.

[0095] In order to realize the complete test of the geomagnetic sensor, the magnetic shielding box 7 can also include an outer shell 1, a telescopic hole 6, a hand rod 5, a drawer-type fixed slot, etc. All devices are arranged in the outer shell 1, and the drawer-type fixed slot is used to place the target device 8. At the same time, the placement plate is connected to the hand rod 5. The drawer-type fixed slot is driven to move by pulling the hand rod 5, so as to take and place the target device 8; the telescopic hole 6 matches the hand rod 5. When the telescopic hole 6 is combined with the hand rod 5, the inside of the outer shell 1 forms an enclosed space.

[0096] The present invention also provides a geomagnetic sensor testing method, the geomagnetic sensor testing method of the present invention is applied to the geomagnetic sensor testing device as described above, referring to Figure 1 , Figure 1 This is a flow chart of a first embodiment of a method for testing a geomagnetic sensor according to the present invention. The method comprises the following steps:

[0097] Step S10, determining a target magnetic field, and sending a driving current corresponding to the target magnetic field to a magnetic field simulation module;

[0098] Step S20, obtaining a detection signal of the target device based on the target magnetic field;

[0099] Step S30: testing the geomagnetic sensor of the target device according to the detection signal.

[0100] The driving unit outputs a corresponding driving current to a corresponding coil in the magnetic field simulation module based on the current signal, so that the magnetic field simulation module constructs a target magnetic field corresponding to the current signal.

[0101] After the target magnetic field is constructed, the geomagnetic sensor in the target device detects the target magnetic field to obtain a detection signal, and sends the detection signal to the processing unit; at the same time, the magnetic field standard unit detects the target magnetic field to obtain a magnetic field signal, and sends the magnetic field signal to the processing unit; it can be understood that the magnetic field standard unit is a calibrated magnetic field detection device, specifically a three-axis Gaussmeter, that is, the magnetic field standard unit can accurately detect the relevant data of the target magnetic field.

[0102] After receiving the magnetic field signal and the detection signal, the processing unit can determine the detection condition of the detection signal by comparing the magnetic field signal with the detection signal because the magnetic field signal can accurately indicate the target magnetic field, that is, the magnetic field signal can be considered as a standard signal. For example, when the detection signal is consistent with the magnetic field signal, it is considered that the geomagnetic sensor of the target device has detected accurately, and when the detection signal is significantly different from the magnetic field signal, it is considered that the detection deviation of the geomagnetic sensor of the target device is relatively large.

[0103] This embodiment can simulate a three-dimensional magnetic field by setting a first coil unit, a second coil unit and a third coil unit that are perpendicular to each other. At the same time, in the first coil unit, a first coil group, a second coil group and a third coil are set, so that the magnetic field uniformity can be better ensured in the magnetic field direction of the first coil unit, thereby improving the test accuracy of the geomagnetic sensor based on the simulated three-dimensional magnetic field.

[0104] Furthermore, the step S10 includes:

[0105] Step S11, obtaining a preset detection magnetic field, wherein the preset detection magnetic field includes a plurality of X-axis direction magnetic fields with different magnetic field strengths, a plurality of Y-axis direction magnetic fields with different magnetic field strengths, a plurality of Z-axis direction magnetic fields with different magnetic field strengths, and a plurality of three-dimensional magnetic fields with different magnetic field strengths;

[0106] Step S12, determining the target magnetic field in the preset detection magnetic field based on the test sequence of each preset detection magnetic field at every preset time interval;

[0107] Step S13, sending a driving current corresponding to the target magnetic field to a magnetic field simulation module.

[0108] When testing the geomagnetic sensor, it is often necessary to test different magnetic field types; the preset detection magnetic field is the magnetic field that needs to be tested; specifically, the preset detection magnetic field set in this embodiment includes a single-direction magnetic field and a three-dimensional magnetic field; in other embodiments, a bidirectional magnetic field can also be set.

[0109] When constructing the magnetic field in the X-axis direction, only the Ix current is output, that is, the driving current is output only to the coil in the second coil unit, and the driving current is not output to the coils in the first coil unit and the third coil unit;

[0110] When constructing the magnetic field in the Y-axis direction, only the Iy current is output, that is, the driving current is output only to the coil in the first coil unit, and the driving current is not output to the coils in the second coil unit and the third coil unit;

[0111] When constructing the magnetic field in the Z-axis direction, only the Iz current is output, that is, the driving current is output only to the coil in the third coil unit, and the driving current is not output to the coils in the first coil unit and the second coil unit;

[0112] When constructing a three-dimensional magnetic field, the Ix, Iy, and Iz currents are output simultaneously, that is, the driving currents are output to the coils in the first coil unit, the second coil unit, and the third coil unit simultaneously.

[0113] In different types of magnetic fields, multiple magnetic fields of different sizes can also be specifically set. For example, in the magnetic field in the X-axis direction, the magnetic field between the smallest magnetic induction intensity and the largest magnetic field is evenly divided into ten magnetic fields, and the magnetic induction intensity is used as a preset detection magnetic field; in the application, the driving current corresponding to the magnetic field with the largest magnetic induction intensity can be determined, starting from 0, and increasing the maximum driving current by 1 / 10 each time until the maximum driving current is reached, and 10 corresponding driving currents other than 0 are obtained. These ten driving currents correspond to ten magnetic fields with different magnetic induction intensities in the X-axis direction. The Y-axis and the Z-axis are the same, and will not be repeated; the three-dimensional magnetic field can also be executed based on the above method, the difference is that the driving current is output to the three coil units at the same time based on the above method.

[0114] Furthermore, before step S11, the following steps are included:

[0115] Step S14, outputting a plurality of driving currents to the magnetic field simulation module in sequence, and acquiring a magnetic field signal output by a three-axis Gaussmeter;

[0116] Step S15, determining a preset detection magnetic field corresponding to each of the magnetic field signals;

[0117] Step S16, determining the corresponding relationship between each of the driving currents and each of the preset detection magnetic fields.

[0118] In actual applications, the correspondence between the driving current and the preset detection magnetic field may change due to device displacement caused by vibration during the process, device aging, other interference, etc.; therefore, before testing, it is necessary to determine the correspondence between the driving current and the preset detection magnetic field, so as to output accurate driving current and obtain accurate target magnetic field in the subsequent test.

[0119] Specifically, based on the preset detection magnetic field, different driving currents are output to the magnetic field simulation module. At the same time, the three-axis Gaussmeter detects the magnetic field constructed by the magnetic field simulation module to obtain a magnetic field signal. When the magnetic field signal matches the corresponding preset detection magnetic field, the correspondence between the preset detection magnetic field and the driving current is determined. When the magnetic field signal does not match the corresponding preset detection magnetic field, the driving current is adjusted until the detected magnetic field signal matches the corresponding preset detection magnetic field. At this time, the correspondence between the driving current and the preset detection magnetic field is obtained; all preset detection magnetic fields are traversed to obtain a complete correspondence.

[0120] Specifically, the magnetic induction intensity is mainly related to the position and the control current. When the position is fixed, the difference in magnetic induction intensity between two positions mainly depends on the drive current, that is, the difference Bx, By, Bz between two positions on the X, Y, and Z axes can be expressed as:

[0121] Bx=a11Ix+a12Iy+a13Iz+B0x

[0122] By=a21Ix+a22Iy+a23Iz+B0y

[0123] Bz=a31Ix+a32Iy+a33Iz+B0z

[0124] The magnetic field intensity errors ΔBx, ΔBy, ΔBz on the X, Y, and Z axes can be expressed as:

[0125] ΔBx=k11Ix+k12Iy+k13Iz+ΔB0x

[0126] ΔBy=k21Ix+k22Iy+k23Iz+ΔB0y

[0127] ΔBz=k31Ix+k32Iy+k33Iz+ΔB0z

[0128] Among them, a and k are coefficients;

[0129] Ix, Iy, and Iz in the above formula can be detected, that is, they can be regarded as known values; based on the least squares method, the coefficients in the above Bx, By, Bz, ΔBx, ΔBy, and ΔBz are obtained. Specifically, only one of the drive currents Ix, Iy, and Iz is output each time, and a set of coefficients can be obtained each time. After three outputs of different drive currents, all coefficients can be obtained. The inverse matrix is ​​solved according to the coefficients, and the negative feedback can be used to accurately control the drive currents Ix, Iy, and Iz, thereby realizing the determination of the corresponding relationship between the drive current and the preset detection magnetic field.

[0130] Furthermore, the step S14 includes:

[0131] Step S141, after the target device arrives at the test position, determining whether the stop test time of the geomagnetic sensor test device is greater than a preset time;

[0132] Step S142: if the stopping test time of the geomagnetic sensor testing device is longer than the preset time, a plurality of driving currents are output to the magnetic field simulation module in sequence.

[0133] It can be understood that, under normal circumstances, the correspondence between the driving current and the preset detection magnetic field is relatively fixed in a short period of time. Therefore, in order to improve the test efficiency, there is no need to repeatedly determine the correspondence between the driving current and the preset detection magnetic field during continuous testing; when the test is stopped for a certain time, such as the preset duration, it is necessary to re-determine the correspondence between the driving current and the preset detection magnetic field to ensure the accuracy of the correspondence; the specific value of the preset duration can be set based on actual needs, such as 2 hours.

[0134] In other embodiments, other conditions for determining the corresponding relationship may be set, such as determining the corresponding relationship between the driving current and the preset detection magnetic field again when the time from the last time the corresponding relationship was determined reaches a preset update time.

[0135] Furthermore, the step S30 includes:

[0136] Step S31, obtaining a magnetic field signal output by a three-axis Gaussmeter;

[0137] Step S32, performing linear fitting calibration on the detection signal based on the magnetic field signal to obtain a calibration value;

[0138] Step S33: writing the calibration value into the target device.

[0139] Based on the above description, it can be known that the magnetic field signal output by the three-axis Gaussmeter is a standard signal. Therefore, a linear fitting calibration of the detection signal based on the magnetic field signal can obtain the calibration value corresponding to the detection signal; based on the calibration value, the target device can calibrate the detection signal of the geomagnetic sensor through the calibration value in subsequent applications to obtain an accurate geomagnetic signal.

[0140] The specific method of linear fitting calibration can be set based on actual needs and is not limited here.

[0141] Furthermore, before step S20, the method includes:

[0142] Step S40, acquiring a motion signal sent by a motion detection module;

[0143] Step S50, judging whether the geomagnetic sensor testing device is in a stationary state according to the motion signal;

[0144] Step S60: If the geomagnetic sensor testing device is in a stationary state, a detection signal of a target device based on the target magnetic field is obtained.

[0145] It is understandable that in actual applications, there are some scenarios that will cause the geomagnetic sensor testing device to vibrate, such as when the target device is not placed horizontally, the center of the target device does not reach the center coordinate origin of the geomagnetic sensor testing device, the user touches the testing device, etc. The vibration of the geomagnetic sensor testing device will cause the position of the components and the target device in the device to shift, thereby making the test results inaccurate; therefore, in this embodiment, a motion detection module is set to detect the motion state of the geomagnetic sensor testing device, so as to ensure that the test is performed when the geomagnetic sensor testing device is in a stationary state, thereby ensuring the test results.

[0146] The overall process of the geomagnetic sensor testing method of the present invention is described below:

[0147] 1. Pull out the hand lever, place the 9-target device on the drawer-type fixed card slot, and push the hand lever in to move the target device to the position to be tested. Figure 4 As shown, the center position of the geomagnetic sensor inside the watch is made to coincide with the magnetic field center point O of the target magnetic field;

[0148] 2. The processing unit determines whether the last calibration time of the test device is more than 2 hours ago. If the calibration time is more than 2 hours ago, the test device enters the self-checking mode of steps 3-6. If the calibration time is less than 2 hours ago, it enters step 7.

[0149] 3. The processing unit controls the Ix of the driving unit to start from 0mA, and increase by 0.1mA each time, with an interval of 100ms. The Y-axis and Z-axis corresponding coils have no current, and the three-axis Gauss meter synchronously measures the magnetic field strength. The three-axis accelerometer and the three-axis gyroscope synchronously measure the gravity acceleration and angular velocity of the test device to determine whether the test device is in a static state to avoid external vibration interference. The processing unit records the driving current size of the fifth sub-coil and the sixth sub-coil and the magnetic field signal corresponding to the three-axis Gauss meter until the coil DC current Ix reaches the set target maximum value.

[0150] 4. The processing unit controls the Iz of the driving unit to start from 0mA, and increase by 0.1mA each time, with an interval of 100ms. The Y-axis and X-axis corresponding coils have no current, and the three-axis Gauss meter synchronously measures the magnetic field strength. The three-axis accelerometer and the three-axis gyroscope synchronously measure the gravity acceleration and angular velocity of the test device to determine whether the test device is in a static state to avoid external vibration interference. The processing unit records the driving current size of the seventh sub-coil and the eighth sub-coil and the magnetic field signal corresponding to the three-axis Gauss meter until the coil DC current Ix reaches the set target maximum value.

[0151] 5. The processing unit controls the Iy of the driving unit to start from 0mA, and increase by 0.1mA each time, with an interval of 100ms. The Y3 coil outputs synchronously at k times the Iy coil current. The X-axis and Z-axis corresponding coils have no current. The three-axis Gauss meter synchronously measures the magnetic field strength. The three-axis accelerometer and the three-axis gyroscope synchronously measure the gravity acceleration and angular velocity of the test device to determine whether the test device is in a static state to avoid external vibration interference. The processing unit records the driving current size of the first sub-coil to the fourth sub-coil and the third coil and the magnetic field signal corresponding to the three-axis Gauss meter until the coil DC current Iy reaches the set target maximum value.

[0152] 6. The processing unit controls the Ix, Iy, and Iz of the driving unit so that the magnetic field strength is within the measurement range of the geomagnetic sensor of the target device. The driving current Ix, Iy, and Iz controlled by the driving unit are output at 0, 1 / 10 to 10 / 10, so that the three-dimensional vector magnetic field is output at 1 / 10 of the watch at intervals of 100ms. The three-axis Gauss meter synchronously measures the magnetic field strength, and the three-axis accelerometer and three-axis gyroscope synchronously measure the gravity acceleration and angular velocity of the test device to determine whether the test device is in a stationary state to avoid external vibration interference. The processing unit records 10 segments of the three-dimensional vector magnetic field strength and direction values.

[0153] 7. The processing unit tests the X-axis of the geomagnetic sensor of the target device, and increases the driving current Ix output by 1 / 10 each time. The built-in geomagnetic sensor of the target device synchronously detects the magnetic field in the X-axis direction of the test device and sends the detection signal to the processing unit. The processing unit performs linear segment simulation calibration based on the detection signal and the magnetic field signal of the three-axis Gaussmeter;

[0154] 8. The processing unit tests the Y-axis of the geomagnetic sensor of the target device, and increases the output of the driving current Iy by 1 / 10 each time. The built-in geomagnetic sensor of the target device synchronously detects the magnetic field in the Y-axis direction of the test device, and sends the detection signal to the processing unit. The processing unit performs linear segment simulation calibration based on the detection signal and the magnetic field signal of the three-axis Gaussmeter;

[0155] 9. The processing unit tests the Z-axis of the geomagnetic sensor of the target device, and increases the output of the driving current Iz by 1 / 10 each time. The built-in geomagnetic sensor of the target device synchronously detects the magnetic field in the Z-axis direction of the test device, and sends the detection signal to the processing unit. The processing unit performs linear segment simulation calibration based on the detection signal and the magnetic field signal of the three-axis Gaussmeter;

[0156] 10. The processing unit tests the three-dimensional magnetic field of the geomagnetic sensor of the target device, and increases the output of the driving current Ix, Iy, and Iz by 1 / 10 each time to construct a three-dimensional vector stable uniform magnetic field. The built-in geomagnetic sensor of the target device synchronously detects the size and direction of the three-dimensional vector magnetic field of the test device, and sends the detection signal to the processing unit. The processing unit performs linear segment simulation calibration based on the detection signal and the magnetic field signal of the three-axis Gauss meter; the three-axis accelerometer and the three-axis gyroscope synchronously measure the gravity acceleration and angular velocity of the test device to determine whether the test device is in a stationary state to avoid external vibration interference.

[0157] 11. After the geomagnetic sensor detection of the target device is completed, pull out the hand lever and take out the measured target device.

[0158] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0159] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0160] Reference Figure 6 In terms of hardware structure, the electronic device may include components such as a communication module 10, a memory 20, and a processor 30. In the electronic device, the processor 30 is connected to the memory 20 and the communication module 10 respectively, and a computer program is stored in the memory 20. The computer program is executed by the processor 30 at the same time, and the steps of the above method embodiment are implemented when the computer program is executed.

[0161] The communication module 10 can be connected to an external communication device through a network. The communication module 10 can receive requests from an external communication device, and can also send requests, instructions and information to the external communication device, which can be other electronic devices, servers or Internet of Things devices, such as televisions, etc.

[0162] The memory 20 can be used to store software programs and various data. The memory 20 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function (such as determining a target magnetic field), etc.; the data storage area can include a database, and the data storage area can store data or information created according to the use of the system, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0163] The processor 30 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It executes various functions of the electronic device and processes data by running or executing software programs and / or modules stored in the memory 20, and calling data stored in the memory 20, so as to monitor the electronic device as a whole. The processor 30 may include one or more processing units; optionally, the processor 30 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 30.

[0164] although Figure 6 Although not shown, the electronic device may further include a circuit control module, which is used to connect to a power source to ensure the normal operation of other components. Figure 6 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0165] The present invention also provides a computer-readable storage medium on which a computer program is stored. The computer-readable storage medium may be Figure 6 The memory 20 in the electronic device may also be at least one of a ROM (Read-Only Memory) / RAM (Random Access Memory), a magnetic disk, and an optical disk. The computer-readable storage medium includes a number of instructions for enabling a terminal device with a processor (which may be a television, a car, a mobile phone, a computer, a server, a terminal, or a network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0166] In the present invention, the terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0167] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0168] Although the embodiments of the present invention have been shown and described above, the scope of protection of the present invention is not limited thereto. It is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art can change, modify and replace the above embodiments within the scope of the present invention, and these changes, modifications and replacements should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A geomagnetic sensor testing device, characterized in that: The geomagnetic sensor testing device comprises a magnetic field simulation module and a processing module; the magnetic field simulation module comprises a first coil unit, a second coil unit and a third coil unit in which the magnetic field directions are perpendicular to each other; wherein the first coil unit comprises a first coil group, a second coil group and a third coil; wherein: The first coil group is arranged between the second coil groups, and the third coil is arranged between the first coil groups; The output end of the processing module is connected to the coil in the magnetic field simulation module, the acquisition end of the processing module is connected to the target device, and the coil center of the third coil is the test position of the target device; the second coil unit includes a third coil group, wherein the third coil group is symmetrically arranged based on the coil center of the third coil; the third coil unit includes a fourth coil group, wherein the fourth coil group is symmetrically arranged based on the coil center of the third coil; the coil group includes two coils with the same parameters and the same magnetic field direction, wherein: The processing module is used to output a driving current corresponding to the target magnetic field to the coil in the magnetic field simulation module, so that the magnetic field simulation module constructs the target magnetic field; The processing module is further used to obtain a detection signal of the target device based on the target magnetic field, and test the geomagnetic sensor of the target device according to the detection signal.

2. The geomagnetic sensor testing device according to claim 1, characterized in that: The coil in the first coil unit is perpendicular to the Y axis and the center point of the coil is located on the Y axis, the coil in the second coil unit is perpendicular to the X axis and the center point of the coil is located on the X axis, and the coil in the third coil unit is perpendicular to the Z axis and the center point of the coil is located on the Z axis.

3. The geomagnetic sensor testing device according to claim 1, characterized in that: The coil in the first coil unit is circular, the coil in the second coil unit is square, and the coil in the third coil unit is square.

4. The geomagnetic sensor testing device according to claim 1, characterized in that: The processing module includes a processing unit, a driving unit and a magnetic field standard unit; the acquisition end of the processing unit is connected to the target device, the output end of the processing unit is connected to the control end of the driving unit, the output end of the driving unit is connected to the coil in the magnetic field simulation module, the input end of the processing unit is connected to the magnetic field standard unit, and the magnetic field standard unit is arranged in the target magnetic field; wherein: The processing unit is used to determine a current signal corresponding to a target magnetic field and send the current signal to the driving unit; The driving unit is used to output the driving current to the coil in the magnetic field simulation module according to the current signal, so that the magnetic field simulation module constructs the target magnetic field; The magnetic field standard unit is used to detect the magnetic field signal of the target magnetic field and send the magnetic field signal to the processing unit; The processing unit is used to obtain a detection signal of the target device based on the target magnetic field, and test the geomagnetic sensor of the target device according to the detection signal and the magnetic field signal.

5. The geomagnetic sensor testing device according to claim 4, characterized in that: The magnetic field standard unit is a three-axis Gauss meter.

6. The geomagnetic sensor testing device according to claim 4, characterized in that: The processing module further comprises a motion detection module, the output end of which is connected to the motion acquisition end of the processing unit; The motion detection module is used to detect the motion state of the geomagnetic sensor testing device, obtain a motion signal, and send the motion signal to the processing unit.

7. The geomagnetic sensor testing device according to claim 1, characterized in that: The geomagnetic sensor testing device further comprises a magnetic shielding box, and the magnetic field simulation module is arranged in the magnetic shielding box.

8. A geomagnetic sensor testing method, characterized in that: The geomagnetic sensor testing method is applied to the geomagnetic sensor testing device according to any one of claims 1 to 7, and the geomagnetic sensor testing method comprises: Determine a target magnetic field, and send a driving current corresponding to the target magnetic field to a magnetic field simulation module; Acquire a detection signal of a target device based on the target magnetic field; The geomagnetic sensor of the target device is tested according to the detection signal.

9. The geomagnetic sensor testing method according to claim 8, characterized in that: The determining of the target magnetic field and sending a driving current corresponding to the target magnetic field to the magnetic field simulation module includes: Acquire a preset detection magnetic field, wherein the preset detection magnetic field includes a plurality of X-axis direction magnetic fields with different magnetic field strengths, a plurality of Y-axis direction magnetic fields with different magnetic field strengths, a plurality of Z-axis direction magnetic fields with different magnetic field strengths, and a plurality of three-dimensional magnetic fields with different magnetic field strengths; At each preset time interval, based on the test sequence of each of the preset detection magnetic fields, determining the target magnetic field in the preset detection magnetic fields; A driving current corresponding to the target magnetic field is sent to a magnetic field simulation module.

10. The geomagnetic sensor testing method according to claim 9, characterized in that: Before obtaining the preset detection magnetic field, the method includes: Outputting a plurality of driving currents to the magnetic field simulation module in sequence, and acquiring a magnetic field signal output by a three-axis Gaussmeter; Determine a preset detection magnetic field corresponding to each of the magnetic field signals; Determine the corresponding relationship between each of the driving currents and each of the preset detection magnetic fields.

11. The geomagnetic sensor testing method according to claim 10, characterized in that: The sequentially outputting a plurality of driving currents to the magnetic field simulation module comprises: After the target device reaches the test position, determining whether the stop test time of the geomagnetic sensor test device is greater than a preset time; If the stopping test time of the geomagnetic sensor testing device is longer than the preset time, a plurality of driving currents are output to the magnetic field simulation module in sequence.

12. The geomagnetic sensor testing method according to claim 8, characterized in that: The testing of the geomagnetic sensor of the target device according to the detection signal comprises: Obtain the magnetic field signal output by the three-axis Gaussmeter; Performing linear fitting calibration on the detection signal based on the magnetic field signal to obtain a calibration value; The calibration value is written to the target device.

13. The geomagnetic sensor testing method according to claim 8, characterized in that: Before acquiring the detection signal of the target device based on the target magnetic field, the method includes: Acquire the motion signal sent by the motion detection module; Determining whether the geomagnetic sensor testing device is in a stationary state according to the motion signal; If the geomagnetic sensor testing device is in a stationary state, a detection signal of a target device based on the target magnetic field is obtained.

14. An electronic device, characterized in that: The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the geomagnetic sensor testing method as claimed in any one of claims 8 to 13 when executed by the processor.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the geomagnetic sensor testing method according to any one of claims 8 to 13 are implemented.

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