Static calibration orientation method and device for double geomagnetic sensors

Abstract

The invention discloses a double geomagnetic sensor static calibration orientation method and device, which are applied to an orientation device, the orientation device comprises a master geomagnetic sensor and a slave geomagnetic sensor which are installed oppositely, and the method comprises the following steps: acquiring a master geomagnetic value of the master geomagnetic sensor in the horizontal axial direction, acquiring a slave geomagnetic value of the slave geomagnetic sensor in the horizontal axial direction; performing mean value calculation on the master geomagnetic value and the slave geomagnetic value to obtain a geomagnetic mean value, and taking the geomagnetic mean value as a calibration value; adjusting the main geomagnetic value according to the calibration value to obtain a calibrated geomagnetic value; and calculating the azimuth angle of the orientation device according to the calibrated geomagnetic value. On the basis of the method, calibration operation can be completed without movement, rotation and other actions on the device, so that the method can be applied to non-rotatable equipment; meanwhile, after the calibration is completed, the main geomagnetic value is further adjusted based on the calibration value, so that accurate azimuth angle data is finally obtained by calibrating the geomagnetic value.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning and orientation, and in particular to a method and device for static calibration and orientation of dual geomagnetic sensors. Background Art

[0002] In the field of surveillance, geomagnetic sensors are currently often used to determine the geographic direction of the camera. The specific principle is: by determining the shooting range of the camera and selecting a reference object within the shooting range, the longitude and latitude or coordinates of the camera and the reference object are obtained. Then, the camera is controlled to rotate until the reference object is horizontally centered in the camera's viewfinder, and the rotation angle of the camera during the rotation process is determined. According to the longitude and latitude or coordinates of the camera and the reference object and the preset geographic reference direction, the offset reference angle of the camera is determined. Next, the offset of the camera is determined based on the offset reference angle and the rotation angle, and finally the geographic direction of the camera is determined based on the offset and the rotation angle.

[0003] At the same time, geomagnetic sensors will produce errors during the production process, such as offset errors and scale errors. Among them, the offset error is caused by the offset error of the sensor and the circuit; and the scale error refers to the different magnetic induction of the sensor in different axes. Geomagnetic sensors with errors are easily disturbed by the surrounding magnetic environment, which affects the accuracy of the measurement results. Therefore, geomagnetic sensors need to be calibrated when used. Commonly used dynamic calibration methods include plane calibration method, three-dimensional eight-character calibration method, etc. The principle is to move and rotate the geomagnetic sensor to collect magnetic field data in different directions for calibration. It cannot be applied to devices that do not have the function of moving and rotating, that is, it is impossible to calibrate the direction of the device in a static calibration manner. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a dual geomagnetic sensor static calibration and orientation method and device, which can be applied to non-rotatable equipment to achieve static calibration of the equipment.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A dual geomagnetic sensor static calibration orientation method is applied to an orientation device, wherein the orientation device comprises a master geomagnetic sensor and a slave geomagnetic sensor installed opposite to each other, and the method comprises the following steps: Acquire a main geomagnetic value on the horizontal axis of the main geomagnetic sensor, and acquire a slave geomagnetic value on the horizontal axis of the slave geomagnetic sensor; Calculate the mean of the master geomagnetic value and the slave geomagnetic value to obtain a geomagnetic mean value, and use the geomagnetic mean value as a calibration value; Adjusting the main geomagnetic value according to the calibration value to obtain a calibration geomagnetic value; The azimuth of the orientation device is calculated based on the calibrated geomagnetic value.

[0006] In order to solve the above technical problems, another technical solution adopted by the present invention is: A dual geomagnetic sensor static calibration and orientation device comprises a master geomagnetic sensor, a slave geomagnetic sensor, a memory, a processor and a computer program stored in the memory and executable on the processor. The master geomagnetic sensor and the slave geomagnetic sensor are mounted on the device opposite to each other. When the processor executes the computer program, each step in the above-mentioned dual geomagnetic sensor static calibration and orientation method is implemented.

[0007] The beneficial effect of the present invention is that when the device needs to be calibrated, the main geomagnetic value on the horizontal axis of the main geomagnetic sensor and the slave geomagnetic value on the horizontal axis of the slave geomagnetic sensor can be obtained, and then the corresponding calibration value can be obtained by average calculation based on the main geomagnetic value and the slave geomagnetic value, that is, the calibration operation can be completed without moving, rotating, etc. the device, and the directional calibration of the device is completed in a static calibration manner, so that it can be applied to non-rotatable equipment; at the same time, after the calibration is completed, the main geomagnetic value is further adjusted based on the calibration value, so that accurate azimuth data is finally obtained by calibrating the geomagnetic value. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A flowchart of the steps of a dual geomagnetic sensor static calibration and orientation method according to an embodiment of the present invention; Figure 2 is a schematic diagram of the interpretation of the device azimuth in the geographical direction and the angle value range in an embodiment of the present invention; Figure 3 A flowchart of the steps of obtaining calibration values ​​in a dual geomagnetic sensor static calibration and orientation method according to an embodiment of the present invention; Figure 4 It is a schematic structural diagram of a dual geomagnetic sensor static calibration and orientation device according to an embodiment of the present invention; Figure 5 Schematic diagram of the installation method of the dual geomagnetic sensor in an embodiment of the present invention. DETAILED DESCRIPTION

[0009] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0010] In the related art, the orientation calibration method for the device usually requires the device to be moved or rotated, which is difficult to implement on devices that need to be fixed or heavy. For example, in the field of monitoring, the above method cannot be applied to monitoring camera devices without pan / tilt steering. In order to solve the above technical problems, the technical solution adopted by the present invention is: A dual geomagnetic sensor static calibration orientation method is applied to an orientation device, wherein the orientation device comprises a master geomagnetic sensor and a slave geomagnetic sensor installed opposite to each other, and the method comprises the following steps: Acquire a main geomagnetic value on the horizontal axis of the main geomagnetic sensor, and acquire a slave geomagnetic value on the horizontal axis of the slave geomagnetic sensor; Calculate the mean of the master geomagnetic value and the slave geomagnetic value to obtain a geomagnetic mean value, and use the geomagnetic mean value as a calibration value; Adjusting the main geomagnetic value according to the calibration value to obtain a calibration geomagnetic value; The azimuth of the orientation device is calculated based on the calibrated geomagnetic value.

[0011] From the above description, it can be seen that the beneficial effect of the present invention is that: when the device needs to be calibrated, the main geomagnetic value on the horizontal axis of the main geomagnetic sensor and the slave geomagnetic value on the horizontal axis of the slave geomagnetic sensor can be obtained, and then the corresponding calibration value can be obtained by performing mean calculation based on the main geomagnetic value and the slave geomagnetic value. That is, the calibration operation can be completed without moving, rotating, etc. the device, and the directional calibration of the device is completed in a static calibration manner, so that it can be applied to non-rotating equipment; at the same time, after the calibration is completed, the main geomagnetic value is further adjusted based on the calibration value, so that accurate azimuth data is finally obtained by calibrating the geomagnetic value.

[0012] Further, the step of calculating the mean of the main geomagnetic value and the slave geomagnetic value to obtain the geomagnetic mean value comprises: ; In the formula, C x represents the mean value of geomagnetic field along the x direction; C y represents the mean value of the geomagnetic field along the y direction; x A ,y A Indicates the value of the main geomagnetic field along the x direction and along the y direction; B ,y B Indicates the value along the x direction and along the y direction from the geomagnetic field.

[0013] From the above description, it can be seen that by calculating the geomagnetic mean values ​​in the x direction and the y direction respectively, the values ​​in the corresponding directions in the main geomagnetic values ​​can be adjusted based on the geomagnetic mean values ​​in the x direction and the y direction, thereby obtaining accurate calibrated geomagnetic values.

[0014] Furthermore, after taking the geomagnetic mean value as a calibration value, the method further includes: storing the calibration value in a storage unit local to the orientation device; The step of obtaining the main geomagnetic value of the main geomagnetic sensor on the horizontal axis includes: Determine whether the calibration value can be obtained from the storage unit. If so, read the main geomagnetic value of the main geomagnetic sensor on the horizontal axis, and perform the step of adjusting the main geomagnetic value according to the calibration value.

[0015] From the above description, it can be seen that after the calibration value is obtained by calculation, it is stored in a local storage unit of the orientation device, so that there is no need to repeatedly calculate the calibration value in the subsequent process, thereby improving the azimuth calculation efficiency and reducing the energy consumption of the device.

[0016] Furthermore, after storing the calibration value in a local storage unit of the orientation device, the method further includes: storing the calibration value in a server; The determining whether the calibration value can be obtained from the storage unit further includes: If the calibration value cannot be obtained from the storage unit, determining whether the calibration value can be obtained from the server, and if it can be obtained, reading the main geomagnetic value on the horizontal axis of the main geomagnetic sensor, and performing the step of adjusting the main geomagnetic value according to the calibration value; If it cannot be obtained, the step of obtaining the main geomagnetic value of the main geomagnetic sensor on the horizontal axis is performed.

[0017] From the above description, it can be seen that after the calibration value is stored in the local storage unit of the orientation device, it is also stored in the server, so that when the local storage of the orientation device fails or an abnormal power outage occurs, the calibration value can be obtained from the server, thereby eliminating the need to recalculate the calibration value.

[0018] Further, the obtaining the calibration value from the server includes: Sending an acquisition request to the server, wherein the acquisition request includes a unique identifier of the orientation device; The acquisition request instructs the server to query whether the corresponding calibration value exists according to the unique identifier, and send the request result to the directional device; the request result includes the judgment result of whether the calibration value exists, and the corresponding numerical value when the calibration value exists.

[0019] From the above description, it can be known that by sending an acquisition request with the unique identifier of the orientation device to the server, the server can query the calibration value corresponding to the orientation device based on the unique identifier and feed back the query result to the corresponding orientation device.

[0020] Further, the determining whether the calibration value can be obtained from the server, if the calibration value can be obtained, further includes: The calibration value is stored in the storage unit.

[0021] From the above description, it can be seen that after the calibration value is obtained from the server, the calibration value is stored in the storage unit, so that when the calibration value needs to be obtained later, it can be directly obtained from the local storage unit without communicating with the server, thereby reducing the energy consumption of the device; at the same time, it can also avoid the situation where the network cannot be connected or the server is abnormal, and the calibration value can be obtained based on the local storage unit.

[0022] Further, it is determined whether the calibration value can be obtained from the storage unit or the server, and if so, only the main geomagnetic sensor is started.

[0023] From the above description, it can be seen that when the calibration value can be obtained from the storage unit or the server, it is only necessary to start the main geomagnetic sensor to calculate the azimuth. Therefore, when the device and the server are working normally, the setting of the dual geomagnetic sensors will not increase the power consumption of the device.

[0024] Further, the calculating the azimuth of the orientation device according to the calibrated geomagnetic value comprises: Calculate the azimuth angle in radians according to the calibration geomagnetic value; The azimuth radian value is converted into the azimuth angle.

[0025] From the above description, it can be seen that the azimuth radian value is first calculated by calibrating the geomagnetic value, and then the azimuth radian value is converted into an azimuth, so as to obtain an accurate azimuth.

[0026] Further, the calculating the azimuth radian value according to the calibration geomagnetic value includes: ; In the formula, Indicates the azimuth arc value; x indicates the value of the calibrated geomagnetic value in the x direction; y indicates the value of the calibrated geomagnetic value in the y direction; The converting the azimuth angle radian value into the azimuth angle comprises: When the azimuth angle is between -180° and 180°: ; When the azimuth angle is 0° to 360°: ; In the formula, Indicates the azimuth.

[0027] From the above description, it can be seen that according to the different values ​​in the x-direction and the y-direction, different formulas are used to calculate the corresponding azimuth radian values, so that accurate azimuth radian values ​​can be obtained; at the same time, according to different azimuth value ranges and azimuth radian values, corresponding conversion formulas are used to convert the azimuth radian values ​​into azimuths, so as to obtain azimuths that meet preset requirements; for example, the azimuth is expressed in the range of -180° to 180°, or in the range of 0° to 360°.

[0028] Another embodiment of the present invention provides a dual geomagnetic sensor static calibration and orientation device, including a master geomagnetic sensor, a slave geomagnetic sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the master geomagnetic sensor and the slave geomagnetic sensor are installed opposite to each other on the device, and when the processor executes the computer program, each step in the above-mentioned dual geomagnetic sensor static calibration and orientation method is implemented.

[0029] The dual geomagnetic sensor static calibration orientation method and device provided by the present invention can be applied to equipment that is fixedly installed, heavy and difficult to move, or installed in an environment that is difficult to maintain. For example, in the application scenario of a camera device, it can be used on a camera device that is installed on a pole tower and does not have a pan / tilt head. The following is an explanation through specific implementation methods: Embodiment 1 Please refer to Figure 1 , a dual geomagnetic sensor static calibration orientation method, applied to an orientation device, the orientation device includes a main geomagnetic sensor and a slave geomagnetic sensor installed oppositely; wherein, orientation refers to determining the specific direction of the device, specifically calculating its azimuth; the geomagnetic sensor refers to an electronic component that can read three mutually perpendicular data, which are directed from the center point of the sensor to the outside and are used to describe the magnetic induction intensity (unit: Gauss) data in the environment where the sensor is located in that direction; the main geomagnetic sensor refers to a sensor that provides the main measurement data source, and the slave geomagnetic sensor refers to a sensor that provides an auxiliary measurement data source; preferably, the main geomagnetic sensor and the slave geomagnetic sensor are sensors of the same model, and one geomagnetic sensor is used as the main sensor and the other geomagnetic sensor is used as the slave sensor according to the use requirements. The method includes the following steps: S1. Obtain the main geomagnetic value of the main geomagnetic sensor in the horizontal axis direction, and obtain the secondary geomagnetic value of the secondary geomagnetic sensor in the horizontal axis direction. For example, the main geomagnetic sensor is denoted as A, and the secondary geomagnetic sensor is denoted as B. The main geomagnetic value includes the magnetic induction intensity x in the x-axis direction. Aand the magnetic induction intensity y in the y-axis direction A , from the geomagnetic values ​​including x B and B .

[0030] S2. Calculate the average of the main geomagnetic value and the slave geomagnetic value to obtain the geomagnetic mean value, and use the geomagnetic mean value as the calibration value, that is, the geomagnetic mean value is the average value of the magnetic induction intensity. The specific calculation is as follows: ; In the formula, C x represents the mean value of the geomagnetic field along the x direction, that is, the mean value of the magnetic induction intensity in the x direction; C y It represents the average value of magnetic induction intensity along the y direction, that is, the average value of magnetic induction intensity in the y direction; the calibration value refers to an intermediate value in the process of calculating the azimuth.

[0031] S3. Adjust the main geomagnetic value according to the calibration value to obtain the calibration geomagnetic value. The specific adjustment method is as follows: ; Where x represents the calibrated geomagnetic value in the x direction; y represents the calibrated geomagnetic value in the y direction.

[0032] S4, calculating the azimuth of the orientation device according to the calibrated geomagnetic value; Please refer to Figure 2 In some embodiments, the device azimuth refers to the angle between the device orientation and the geographic north, and the value range is -180° to 180°, where 0° represents due north, 90° represents due east, 180° represents due south, and -90° represents due west. In other embodiments, the device azimuth refers to the angle between the device orientation and the geographic north, and the value range is 0° to 360°, where 0° represents due north, 90° represents due east, 180° represents due south, and 270° represents due west; in this embodiment, the x direction of the main geomagnetic sensor and the device orientation are in the same direction as an example to illustrate the calculation method of the radian value and the azimuth angle, and the radian value range is set to -π to π, then the specific value method of the radian value is as follows: ; In the formula, In other implementations, the radian value may range from 0 to 2π.

[0033] Convert azimuth radians to azimuth degrees: When the azimuth angle is between -180° and 180°: ; When the azimuth angle is 0° to 360°: ; In the formula, Indicates the azimuth.

[0034] Embodiment 2 This embodiment specifically limits the method for obtaining the calibration value; after the calibration value is calculated based on the method in Embodiment 1, the calibration value is stored in a local storage unit of the orientation device and uploaded to the server for storage; a variety of storage methods are used to save the calibration value, thereby solving the problem that the geomagnetic sensor needs to be repeatedly calibrated from time to time during orientation.

[0035] Please refer to Figure 3 When the device attempts to read the calibration value, it will first try to read the calibration value from the local storage unit. When it is determined that the calibration value can be obtained from the storage unit, the main geomagnetic value of the main geomagnetic sensor on the horizontal axis is read, and the above steps S3-S4 are executed.

[0036] If the calibration value cannot be obtained from the storage unit, then further attempt to read the calibration value from the server; when it is determined that the calibration value can be obtained from the server, then read the main geomagnetic value on the horizontal axis of the main geomagnetic sensor, and execute the above steps S3-S4; at the same time, store the obtained calibration value in the local storage unit. And in the case where the calibration value can be obtained from the storage unit or the server, only the main geomagnetic sensor is started; that is: after obtaining a calibration value once, except for special cases such as device initialization or local storage medium damage resulting in local data loss, server initialization or failure resulting in data loss in the server, the slave geomagnetic sensor does not need to be enabled before the time when the device magnetic field environment changes or reaches the time when recalibration is required after the general geomagnetic field changes; therefore, when the device and the server are working normally, it is basically only necessary to enable the main geomagnetic sensor, so that the dual sensor solution does not increase additional power consumption.

[0037] If it cannot be obtained, the above steps S1-S4 are executed, and the calculated calibration value is stored in a local storage unit and uploaded to the server.

[0038] Among them, the process of obtaining the calibration value from the server includes: sending an acquisition request to the server, the acquisition request includes the unique identifier of the directional device; then, the server queries whether there is a corresponding calibration value in its local data according to the unique identifier, and sends the request result to the directional device; the request result includes the judgment result of whether the calibration value exists, and the corresponding numerical value when the calibration value exists, that is, when it is judged that there is no corresponding calibration value, the request result is that there is no calibration value; when there is a corresponding calibration value, the request result is that there is a calibration value, and the calibration value is fed back.

[0039] Embodiment 3 Please refer to Figure 4A dual geomagnetic sensor static calibration and orientation device includes a master geomagnetic sensor, a slave geomagnetic sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor. The master geomagnetic sensor and the slave geomagnetic sensor are installed opposite to each other on the device. When the processor executes the computer program, each step in the dual geomagnetic sensor static calibration and orientation method in Embodiment 1 and Embodiment 2 is implemented.

[0040] like Figure 5 The figure shows the installation method of dual geomagnetic sensors on the device; the master geomagnetic sensor and the slave geomagnetic sensor are installed opposite to each other on the same device; for example, the master geomagnetic sensor is recorded as sensor A, and the slave geomagnetic sensor is recorded as sensor B. The opposite installation means that the two sensors on the same device are installed symmetrically along a certain point in the same horizontal plane of the device, that is, one sensor can theoretically coincide with the other sensor by rotating 180° around the point, and two of the three measuring axes of the geomagnetic sensor are in the horizontal direction (x direction and y direction), and the third axis is in the vertical direction (z direction), and one horizontal measuring axis of the main sensor is in the same direction as the device orientation, such as Figure 5 The x direction of the main geomagnetic sensor A is the same as the device orientation.

[0041] In summary, the present invention provides a dual geomagnetic sensor static calibration and orientation method and device, which installs the main geomagnetic sensor and the slave geomagnetic sensor on the device opposite to each other, so that when the device needs to be calibrated, the main geomagnetic value on the horizontal axis of the main geomagnetic sensor and the slave geomagnetic value on the horizontal axis of the slave geomagnetic sensor can be obtained, and then the corresponding calibration value can be obtained by average calculation based on the main geomagnetic value and the slave geomagnetic value. That is, the calibration operation can be completed without moving, rotating, etc. the device, and the orientation calibration of the device is completed in a static calibration manner, so that it can be applied to non-rotatable equipment; at the same time, a variety of storage methods are used to save the calibration value, which solves the problem that the geomagnetic sensor needs to be calibrated repeatedly from time to time during orientation.

[0042] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A dual geomagnetic sensor static calibration and orientation method, characterized in that: Applied to an orientation device, the orientation device includes a master geomagnetic sensor and a slave geomagnetic sensor installed opposite to each other, and the method includes the following steps: Acquire a main geomagnetic value on the horizontal axis of the main geomagnetic sensor, and acquire a slave geomagnetic value on the horizontal axis of the slave geomagnetic sensor; Calculate the mean of the master geomagnetic value and the slave geomagnetic value to obtain a geomagnetic mean value, and use the geomagnetic mean value as a calibration value; Adjusting the main geomagnetic value according to the calibration value to obtain a calibration geomagnetic value; The azimuth of the orientation device is calculated based on the calibrated geomagnetic value.

2. A dual geomagnetic sensor static calibration and orientation method according to claim 1, characterized in that: The step of calculating the mean of the main geomagnetic value and the slave geomagnetic value to obtain the geomagnetic mean value comprises: ； In the formula, C x represents the mean value of geomagnetic field along the x direction; C y represents the mean value of the geomagnetic field along the y direction; x A ,y A Indicates the value of the main geomagnetic field along the x direction and along the y direction; B ,y B Indicates the value along the x direction and along the y direction from the geomagnetic field.

3. A dual geomagnetic sensor static calibration and orientation method according to claim 1, characterized in that: The method further comprises taking the geomagnetic mean value as a calibration value; storing the calibration value in a storage unit local to the orientation device; The step of obtaining the main geomagnetic value of the main geomagnetic sensor on the horizontal axis includes: Determine whether the calibration value can be obtained from the storage unit. If so, read the main geomagnetic value of the main geomagnetic sensor on the horizontal axis, and perform the step of adjusting the main geomagnetic value according to the calibration value.

4. A dual geomagnetic sensor static calibration and orientation method according to claim 3, characterized in that: After storing the calibration value in a local storage unit of the orientation device, the method further includes: storing the calibration value in a server; The determining whether the calibration value can be obtained from the storage unit further includes: If the calibration value cannot be obtained from the storage unit, determining whether the calibration value can be obtained from the server, and if it can be obtained, reading the main geomagnetic value of the main geomagnetic sensor on the horizontal axis, and performing the step of adjusting the main geomagnetic value according to the calibration value; If it cannot be obtained, the step of obtaining the main geomagnetic value of the main geomagnetic sensor on the horizontal axis is performed.

5. A dual geomagnetic sensor static calibration and orientation method according to claim 4, characterized in that: The obtaining the calibration value from the server comprises: Sending an acquisition request to the server, wherein the acquisition request includes a unique identifier of the orientation device; The acquisition request instructs the server to query whether the corresponding calibration value exists according to the unique identifier, and send the request result to the directional device; the request result includes the judgment result of whether the calibration value exists, and the corresponding numerical value when the calibration value exists.

6. A dual geomagnetic sensor static calibration and orientation method according to claim 4, characterized in that: The determining whether the calibration value can be obtained from the server, if the calibration value can be obtained, further includes: The calibration value is stored in the storage unit.

7. A dual geomagnetic sensor static calibration and orientation method according to claim 4, characterized in that: It is determined whether the calibration value can be obtained from the storage unit or the server, and if so, only the main geomagnetic sensor is started.

8. The dual geomagnetic sensor static calibration and orientation method according to claim 1, characterized in that: The step of calculating the azimuth of the orientation device according to the calibrated geomagnetic value comprises: Calculate the azimuth angle in radians according to the calibration geomagnetic value; The azimuth radian value is converted into the azimuth angle.

9. A dual geomagnetic sensor static calibration and orientation method according to claim 7, characterized in that: The calculating of the azimuth radian value according to the calibrated geomagnetic value comprises: ； In the formula, Indicates the azimuth arc value; x indicates the value of the calibrated geomagnetic value in the x direction; y indicates the value of the calibrated geomagnetic value in the y direction; The converting the azimuth angle radian value into the azimuth angle comprises: When the azimuth angle is between -180° and 180°: ； When the azimuth angle is 0° to 360°: ； In the formula, Indicates the azimuth.

10. A dual geomagnetic sensor static calibration and orientation device, comprising a master geomagnetic sensor, a slave geomagnetic sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: The master geomagnetic sensor and the slave geomagnetic sensor are installed on the device opposite to each other, and when the processor executes the computer program, each step of the dual geomagnetic sensor static calibration and orientation method as described in any one of claims 1-9 is implemented.

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