METHOD FOR MEASURING THE POSITION OF A MAGNET BY A SENSOR ARRANGEMENT WITH INCREASED MAGNETIC EXTERNAL FIELD ROBUSTNESS, TAKING INTO ACCOUNT THE SIGNAL-NOISE RATIO

Description

[0001] The present invention relates to a method for measuring the position of a magnet by means of a sensor arrangement with increased magnetic field robustness, taking into account the signal-to-noise ratio.

[0002] In In many different applications, it is necessary to determine the position of a control element or sensor in space and thereby ascertain its operating state. This allows for the creation of numerous distinct operating positions without the need for mechanical detents or similar mechanisms. This also has the advantage that different feedback is provided to the user depending on the current position of the control element, allowing the user to react accordingly.

[0003] This position determination is typically achieved using an arrangement containing a magnet, in particular a permanent or electromagnet, which is usually located on the control element, and at least one sensor capable of determining the magnetic field in its relevant spatial dimensions. The measured magnetic field is usually compared with the magnetic field of the magnet on the control element, at least in a zero position of the control element, or with a measurement under laboratory conditions, to determine the change in the magnet's position relative to a zero position. This determination of the magnet's position is prone to error in two key aspects: firstly, the measurement is distorted by signal noise inherent in the components of the arrangement.On the other hand, the magnetic field of the magnet on the control element can be superimposed by an external field, which also distorts the measurement results of the magnetic flux densities and may differ significantly from a measurement under laboratory or ideal conditions, leading to an incorrect position determination.

[0004] It is known in the prior art to use more than one sensor, so that the measurement of one sensor can be verified by another at a different position. Furthermore, it is known to use the differences in the magnetic flux densities measured by the multiple sensors to determine the position of the magnet, so that an extraneous field, which ideally acts equally on both sensors, is factored out by calculating the difference, and the calculated signal accordingly exhibits immunity to extraneous fields.

[0005] According to the prior art EP 1 464 918 B1, a method for measuring the position of a magnet relative to a measuring point is known, in which the magnetic field is measured by two magnetic field sensors and the position of the magnet in space is determined by calculating the difference quotient of these measured magnetic fields. While this method has the advantage that the determined position of the magnet is free of extraneous fields, the signals obtained from the calculation of difference quotients are significantly attenuated and noise is significantly amplified relative to the signal.

[0006] DE 10 2018 129487 A1 shows another known method for measuring the position of a magnet.

[0007] In contrast, an absolutely measured signal, which is not subtracted from signals measured by other sensors, is a particularly strong signal where noise due to component tolerances has less of an impact. However, this absolutely measured and uncompensated signal contains the extraneous field unchanged and at its full intensity, so that despite a good signal-to-noise ratio, this signal may be significantly distorted.

[0008] Consequently, the invention is based on the objective of proposing a method for determining the position of a magnet in which the determined result exhibits both extraneous field robustness and an advantageous signal-to-noise ratio.

[0009] This problem is solved by a method for signal processing from a magnet-sensor arrangement, wherein the magnet-sensor arrangement comprises at least one sensor pair and a magnet movably mounted thereon, comprising the following steps: a) Measurement of the magnetic flux density per spatial coordinate per sensor b) Non-differential calculation of a change in the position of the magnet for each magnetic flux density measured in step a) c) Calculation of the differences between the measured magnetic flux densities per spatial coordinate d) Differential calculation of a change in the position of the magnet from the magnetic flux densities calculated in step c) e) Normalization of the non-differentially and differentially calculated changes in the position of the magnet based on a zero position of the magnet f) Calculation of the differences between the differentially calculated and the non-differentially calculated changes in the position of the magnet g) Calculation of a weighting factor based on the differences calculated in step f) h) Calculation of a mean value, weighted by the weighting factor from step g), of the non-differentially and differentially calculated changes in the position of the magnet normalized in step e) by a adjustedTo obtain a change of position.

[0010] The magnet-sensor arrangement underlying the measurements according to step a) of the method consists of at least one sensor pair and a magnet movably mounted relative to it. For the purposes of this invention, a magnet is defined as any device that emits a magnetic field, in particular permanent or electromagnets. The mobility of the magnet is primarily relative to the at least one sensor pair, such that a change in the position of the magnet relative to a position of the sensor pair is perceptible or measurable by the sensor pair. It is advantageous to use one sensor pair for each direction along a spatial coordinate in which the magnet is movable relative to the sensor pair and the position of the magnet is to be determined. Thus, for a linear movement in one direction or a pivoting movement about a pivot axis, it is necessary to use only one sensor pair.However, if a movement in a plane or about two pivot axes is to be determined, one sensor pair per axis of movement is required, in this case, two sensor pairs. Accordingly, each sensor pair is responsible for determining the change in position in its associated direction of movement. In particular, for pivoting movements of the magnet, it is advantageous if the sensors are Hall sensors, preferably 3D Hall sensors, or other 3D sensors, in order to map the pivoting movement of the magnet and the resulting magnetic flux density in a Cartesian coordinate system. Alternatively, the use of sensors in the form of XMR sensors, for example as TMR, AMR, or GMR sensors, is also possible according to the invention.

[0011] In the first step a) of the procedure, the magnetic flux density in the relevant spatial directions of a Cartesian coordinate system is measured for each sensor, so that, in the case of 3D sensors, the magnetic flux densities in all three spatial directions of a Cartesian coordinate system are measured for each sensor. Thus, in the example of 3D sensors, the magnetic flux densities are obtained according to the principle B xi , B yi and B zi , where x, y and zThe Cartesian coordinates are represented, and i is the index of the respective 3D sensor. These measured magnetic flux densities are raw data, which include all external field influences and also the position of the sensors relative to a zero point of the magnet without distortion. From this raw data, in step b), a position or a change in position relative to a zero position of the magnet is calculated for each sensor. This results in a position or change in position which, due to the aforementioned external influences, generally does not correspond to the actual magnitude and therefore does not exhibit immunity to external fields. The invention defines position or change in position, or distance, as the location of the magnet in space, with the zero position of the magnet being defined as the starting point or zero point of a coordinate system in which the position is determined.Accordingly, the terms position and change of position are used interchangeably in connection with this invention.

[0012] To calculate a position with immunity to external fields, the differences in magnetic flux densities are calculated, specifically the difference between the magnetic flux densities measured by the two sensors of a sensor pair for each relevant spatial direction. Because the difference between two magnetic flux densities influenced by the same external field is calculated, this external field is removed from the result, provided the sensors are sufficiently close to each other so that the external field appears nearly homogeneous in the sensor area, or the external field is nearly homogeneous, resulting in an externally field-corrected magnetic flux density. From these externally field-corrected magnetic flux densities, the position of the magnet is determined, as in step b).These differences in magnetic flux density and the resulting calculated position of the magnet do exhibit immunity to external fields. However, the differences in the measured magnetic flux densities are significantly more susceptible to signal noise due to technical tolerances of the sensors. Consequently, the precision of the measurements and the calculated positions is reduced compared to the values ​​obtained in steps a) and b). The differences calculated in steps c) and d) are the differences between the measured values ​​of a single sensor pair. If the procedure is performed for multiple sensor pairs, for example, to determine the position of the magnet in several spatial directions, the differences in steps c) and d) are calculated for each spatial direction and for each sensor pair assigned to that direction.

[0013] In steps c) and d), the data are largely cleaned of the extraneous field; however, due to the sensors being offset from the magnet's zero point, this data remains distorted and does not reflect the magnet's actual position in space. Therefore, in step e), the positions calculated in steps b) and d) are normalized based on the position of the sensors relative to the magnet's zero position. According to the invention, this normalization includes scaling and / or offset correction.

[0014] This is particularly advantageous when considering an equidistance point between the two sensors of the sensor pair, which is located directly below the magnet's zero position. This allows for a comparison of the magnetic flux densities measured by the two sensors and a correspondingly simpler calculation of the magnet's position.

[0015] In the subsequent step f), the differences in positions obtained from the different calculation methods in steps b) and d) are calculated and then normalized in step e). These results also allow conclusions to be drawn about the extraneous field, which is present in the position from step b) but has already been factored out in the position from step d). The difference in positions is calculated in step f) for each sensor, whereby the positions calculated in step b) are subtracted from the differentially calculated position in step d).

[0016] These positional differences arising from the various calculation methods must be considered when calculating the weighting factor in step g), which typically takes a value between 0 and 1. Due to the magnitude of the difference, a correspondingly large impact of the extraneous field on the sensor measurement results can be observed. Therefore, it is advantageous to minimize the influence of extraneous fields on the position determination calculation while simultaneously ensuring the best possible signal-to-noise ratio for the calculation factors. Consequently, the weighting factor becomes increasingly important the stronger the extraneous field.

[0017] This weighting factor is used to calculate a weighted average of the normalized non-differentially calculated position changes from step b) and differentially calculated position changes from step d) in order to obtain a position of the magnet that is influenced as little as possible by both an external field and a deteriorated signal-to-noise ratio.

[0018] In a further development of the invention, it is proposed that the movable magnet be pivotably mounted about at least one pivot axis and that the change in position be measured in the form of a deflection angle. This method is thus applicable in a system with a pivotable lever on which a magnet is arranged. This is regularly necessary for control levers or similar devices where, based on the lever's position, certain functions must be performed or specific feedback must be given to the user.

[0019] In an embodiment of the invention, it is proposed that the deflection angle be calculated from the measured magnetic flux densities using a trigonometric function. Due to the pivoting motion of a lever on which the magnet is mounted, the magnet moves along a circular path. This circular path of the magnet allows the deflection angle to be calculated using trigonometric functions, since the measured magnetic flux density of the magnet, during a pivoting motion, essentially follows a sine or cosine curve as a function of the deflection angle. Since this curve is expected to be shifted relative to a zero position of the magnet at a deflection angle of 0° due to the position of the sensors, the deflection angles calculated from the trigonometric function must be normalized accordingly in a process step e).

[0020] In a further development of the invention, it is proposed that the differentially calculated deflection angle is calculated from the differences in the measured magnetic flux densities using a trigonometric function. As with the non-differential calculation of the deflection angle, this calculation is also made possible by a trigonometric function based on the swiveling motion of the magnet.

[0021] In both differential and non-differential calculations of the deflection angle, the use of an arcsine or arccosine function is conceivable; however, care must be taken during the calculation to ensure that the result is a one-to-one angle. This becomes particularly uncertain when the calculated angles approach the ±90° limit, which, due to the sensor's displacement towards a zero point, can occur even at significantly smaller actual deflection angles of the magnet. Therefore, it is advantageous to use an arctangent function, especially an arctangent² function, which yields a one-to-one result.It is advantageous, where possible, to calculate either the differentially or non-differentially calculated deflection angles using a sine or cosine function, and the other deflection angle using the arctangent function. This is because the behavior of the differentially and non-differentially calculated magnetic flux densities as a function of the deflection angle, while essentially corresponding to a sine or cosine curve, does not correspond exactly. This allows for diversification of the calculation methods, and any deviations from an ideal sine or cosine curve can be compensated for during the processing of these calculated deflection angles through multi-point adjustment or linearization.

[0022] In an embodiment of the invention, it is proposed that the weighted average is calculated from each of the non-differentially calculated position changes and the differentially calculated position change, with the total calculated position change being calculated as the mean of the weighted averages. Specifically, the sums of the weighted normalized differentially calculated position and the weighted normalized non-differentially calculated position are calculated and combined to obtain an overall result. The weighting has the effect that, with a strong extraneous field and a corresponding weighting factor, the extraneous field-immune differentially calculated position from step d) carries more weight than the extraneous field-susceptible non-differentially calculated position, so that the extraneous field is largely factored out and the poorer signal-to-noise ratio is accepted.However, if the extraneous field is weak or not present at all, the extraneous field-immune differentially calculated position is weighted less than the non-differentially calculated position, thus improving the signal-to-noise ratio.

[0023] In a further development of the invention, it is proposed that the normalization according to step e) is carried out via a multi-point adjustment, in particular a 9-point adjustment or a 15-point adjustment. By multi-point adjustment, the invention means fixing the position at several points, so that the position calculated in step b) or d) at several points (for example, at nine points in a 9-point adjustment) is equated with the expected position. The remaining values, which are not equated with the points, are normalized based on a deviation of the ideal value from the calculated value, as in step e) according to the invention. This results in a significantly more refined normalization overall than a simple normalization and enables a considerably more precise determination of the magnet's position.

[0024] In an embodiment of the invention, it is proposed that an extraneous magnetic field influencing the measurements is determined from the difference between the two differently calculated position changes, whereby these position changes are corrected by multi-point calibration. As previously explained, the extraneous field is determined according to the invention by the deviations of the results from the different calculation methods. By supplementing this determination of the extraneous field with multi-point calibration, the invention understands an application of multi-point calibration to the results from the different calculation methods.The data obtained using multi-point calibration closely correspond to the actual position of the magnet. Therefore, any deviation of the position calculated from the measured values ​​from this data suggests distortions of the expected position, which arise at least predominantly from an external magnetic field. Multi-point calibration thus minimizes the influence of potential nonlinearities, slope errors, or offset errors in the different methods used to calculate the position change. Consequently, these position deviations, which must be converted back into a magnetic flux density, correspond to the external magnetic field.

[0025] In a further development of the invention, it is proposed that an external magnetic field influencing the measurements be determined from the difference between the two differently calculated position changes, wherein these position changes are corrected by comparison with a measurement under laboratory conditions. The same applies as for correction by multi-point calibration, except that here the calculated results are also corrected for a mathematical error. Such an error has previously been described in the case of a swiveling movement of the magnet, where the measured magnetic flux density as a function of the deflection angle essentially, but not exactly, corresponds to a sine or cosine curve, and thus the use of an arcsine or arccosine function for calculating the deflection angle exhibits a mathematical error, albeit a small one.

[0026] In In a further embodiment of the invention, it is proposed that a predefinable constant be used in the calculation of the weighting factor. A max The constant takes into account the degree of deviation between differentially and non-differentially calculated position changes, beyond which the signal from the differentially calculated position change after step d) is used exclusively for calculating the position change. This constant is predefinable so that it can be varied for different applications, especially depending on the strength of an external field, but does not change dynamically based on any measurement results. By appropriately choosing the constant, the boundaries between a noisy signal and one less affected by external fields can be adjusted. For example, it is advantageous if the constant is chosen in such a way that the weighting factor favors the externally field-insensitive, differentially calculated position and gives correspondingly low weight to the non-differentially calculated position when there is a strong external field.This can be achieved in particular through the following mathematical dependency: . W i ∼ Δ α i A max

[0027] Where W is the weighting factor, the index i is one of the sensors, and Δ α represents the difference calculated in step f).

[0028] In a further development of the invention, it is proposed that a predefinable constant be used in the calculation of the weighting factor. O diff This takes into account the fact that it can be specified what percentage of the differentially calculated signal is to be used for calculating the position change. Under the constant... O diff The invention specifically refers to an offset that is added to or subtracted from the normalized or scaled difference from step f). Thus, if, for example, weaker external magnetic fields are present that lead to small changes in the measured values ​​within an acceptable tolerance, this constant can suppress excessive weighting of the differentially calculated position, allowing the non-differentially calculated position with a good signal-to-noise ratio to continue to be used. This is particularly advantageous if the noise in the differentially calculated signal would be greater than the influence of an external field on the low-noise, non-differentially calculated signal. This constant is calculated in the same way as the constant described above. A max Predefinable and adaptable for different applications as needed.

[0029] In exemplary embodiments of the invention, which are particularly advantageous in the case of relative pivoting movements between sensor pair and magnet, the following formulas can be applied for the calculations provided in steps b), d), e), f), g) and h), wherein the respective formulas can be applied independently of each other in different embodiments or together in a single embodiment.

[0030] Step b) involves the non-differential calculation of the change in position. This can be done using simple trigonometric formulas according to the following principle: α i = sin − 1 B x , i B i

[0031] Where α for the calculated change in position, the index i for one of the sensors and B x stands for the measured magnetic flux density in the x-direction, i.e., along the swivel direction.

[0032] Step d) involves the differential calculation of the change in position. This can also be done using simple trigonometric formulas according to the following principle: dα = atan 2 − dB x , dB z

[0033] Where dα for the calculated change in position, dB x for the differential magnetic flux density calculated in step c) in the x-direction, i.e. along the swivel direction, and dB z for the differential magnetic flux density calculated in step c) in the z-direction, i.e. in the zero position of the system radial to the pivoting movement.

[0034] Step e) involves normalizing the non-differentially and differentially calculated position changes. This can preferably be done using a simple calibration via the two maximum displacements, or alternatively using a multi-point calibration, for example, using one of the following formulas.

[0035] For multi-point calibration, the following formulas are advantageous according to the invention: α i , norm = α i − α i , calc , 1 ∗ α i , set , 2 − α i , set , 1 α i , calc , 2 − α i , calc , 1 + α i , set , 1 for non-differential calculation and dα i , norm = dα i − dα i , calc , 1 ∗ dα i , set , 2 − dα i , set , 1 α i , calc , 2 − α i , calc , 1 + α i , set , 1 for differential calculation.

[0036] Where α i , norm or dα i , norm for the calculated position change, the index i for one of the sensors, the index 1 for a first calibration point and the index 2 for a second calibration point of the multi-point calibration, α i,calc or dα i,calc for the calculated position at a calibration point, i.e. along the direction of rotation, and α i , set or dα i,set represents the angle of a calibration point.

[0037] Step f) involves calculating the differences between the differentially calculated position changes and the non-differentially calculated position changes. The invention defines this calculation as follows: Δ α i = dα − α i

[0038] Step g) uses the differences calculated in step f) to calculate a weighting factor for weighting the measured values ​​according to the effect of the extraneous field on the measurement result, so that the differentially calculated, extraneous-field-immune position is weighted more heavily in the case of stronger extraneous field influence. According to the invention, the use of the following formula is particularly advantageous for calculating a weighting factor: W i = Δ α i A max + O diff where if W i < 0, then W i = 0 and if W i > 1, then W i = 1

[0039] where W is the weighting factor, the index i is for one of the sensors, Δ α i This represents the difference calculated in step f). The predefinable constants A max and O diff are freely selectable by a user and allow the user to take the influence of external fields into account in the calculation at their own discretion.

[0040] Step h) involves calculating an adjusted position change using the weighted average from step g). According to the invention, this is particularly advantageously done using the following formula: P i = W i ∗ dα norm − 1 − W i ∗ α i , norm and their subsequent averaging: P = P 1 + P 2 2

[0041] Where P i for the weighted position change determined at sensor i and P stands for the weighted mean of the position changes.

[0042] The invention is explained in more detail below with reference to figures in a drawing. Identical parts are identified by the same reference numeral. Fig. 1: Schematic diagram of the process. Fig. 2: Magnet-sensor arrangement in a preferred embodiment.

[0043] Fig. 1 Figure 1 shows the schematic flow of the method according to the invention. The schematic flow shown relates to a method according to the invention in which the signals of a magnet 2 are measured and processed by two sensors 3a, 3b, or a sensor pair 3. The first two process steps a) and b) are each carried out for each sensor 3a, 3b. In the first process step a), the magnetic flux density emanating from the magnet 2 is recorded for each spatial coordinate. However, the number of spatial coordinates depends on the mobility of the magnet 2 relative to the sensor 3a, 3b, so the magnetic flux density does not necessarily have to be determined in all three spatial coordinates. Furthermore, in process step b), a non-differentially calculated change in the position of the magnet 2 is calculated for each magnetic flux density measured in step a).The non-differential aspect refers to the calculation of the change in position from the absolute values ​​of the measured magnetic flux density. According to the invention, the distance of the change in position is a distance or position, these terms being used interchangeably hereafter, relative to a zero position of magnet 2. The following steps c) and d) essentially correspond to the process steps a) and b), except that they are performed only once and, in particular, not for each sensor. Thus, in step c), the differences of the magnetic flux densities measured in step a) are calculated for each spatial coordinate. The result, therefore, unlike the absolute values ​​from step a), is a differentially calculated magnetic flux density, which, in step d), is used analogously to step b) for the differential calculation of a change in the position of magnet 2.In the subsequent process step e), both the non-differentially calculated and the differentially calculated positions of magnet 2 from process steps b) and d) are normalized based on a zero position of magnet 2. This normalization is necessary because the magnetic flux densities measured in step a) were determined by sensors 3a and 3b, which are located at positions that are distanced from a zero position of magnet 2, but the position of magnet 2 is to be determined relative to this zero position. Accordingly, this error feeds into the magnetic flux densities calculated from the measured magnetic flux densities in step c) and into the positions of magnet 2 calculated from them in steps b) and d), so these values ​​must also be normalized. Subsequently, in process step f), the differences between the differentially calculated position and the non-differentially calculated position of magnet 2 are calculated.Accordingly, each non-differentially calculated position differs from the differentially calculated position of magnet 2. These differences allow conclusions to be drawn about an external field, since the non-differentially calculated position includes the influence of the external field, while the differentially calculated position is immune to external fields. Furthermore, these differences must be considered in the subsequent step g), in which a weighting factor is calculated from them. Due to the magnitude of the difference, a correspondingly large effect of the external field on the sensor measurement result can be observed, and the weighting factor is adjusted accordingly, giving greater weight to the differentially calculated, external-field-immune position.In the final step h), a mean value of the non-differential and differential positions of magnet 2, normalized in step e), is calculated using the weighting factor from step f) to obtain a corrected change in the position of magnet 2. The weighting is chosen based on the calculations of step g) such that a compromise is found between the positions, minimizing the effects of a poor signal-to-noise ratio and a strong external field.

[0044] Fig. 2Figure 1 shows a magnet-sensor arrangement 1 in a preferred embodiment to which the method according to the invention is applied. The magnet-sensor arrangement 1 is formed from a magnet 2 and a sensor pair 3, consisting of two spaced-apart sensors 3a and 3b. The magnet is movably mounted relative to the sensors 3a, 3b. In this case, the magnet 2 is pivotably mounted about a pivot axis, with the two sensors 3a, 3b positioned relative to each other such that their equidistance point is located below a zero position of the magnet 2. The sensor pair 3 detects the magnetic flux density emanating from the magnet 2 and, for further use of the measured data in the method, is arranged in the direction of movement of the magnet 2, so that the magnet 2 can be positioned in a full movement over both sensors. REFERENCE MARK LIST

[0045] 1 Magnet-sensor assembly 2 Magnet 3 Sensor pair 3a First sensor 3b Second sensor

Claims

1. Method for processing signals from a magnet-sensor arrangement (1), wherein the magnet-sensor arrangement (1) comprises at least one sensor pair (3) and a magnet (2) which is mounted movably thereon, comprising the following steps: a) measuring the magnetic flux density per spatial coordinate per sensor b) non-differentially calculating a change in position of the magnet (2) for each magnetic flux density measured in step a) c) calculating the differences in the measured magnetic flux densities per spatial coordinate d) differentially calculating a change in position of the magnet (2) from the magnetic flux densities calculated in step c) e) normalizing the non-differentially and differentially calculated change in position of the magnet (2) on the basis of a zero position of the magnet (2) f) calculating the differences between the differentially calculated change in position of the magnet (2) and the non-differentially calculated changes in position of the magnet (2) g) calculating a weighting factor on the basis of the differences calculated in step f) h) calculating a mean value, weighted by the weighting factor from step g), of the non-differentially and differentially calculated changes in position of the magnet (2) normalized in step e) in order to obtain a corrected change in position.

2. Method according to claim 1, characterized in that the movable magnet (2) is mounted pivotally about at least one pivot axis and the change in position is measured in the form of a deflection angle.

3. Method according to claim 2, characterized in that the deflection angle is calculated from the measured magnetic flux densities using a trigonometric function.

4. Method according to claim 2 or claim 3, characterized in that the differentially calculated deflection angle is calculated from the differences in the measured magnetic flux densities using a trigonometric function.

5. Method according to any of the preceding claims, characterized in that the weighted mean value is formed from one of the non-differentially calculated changes in position and the differentially calculated change in position in each case, the total calculated change in position being calculated using the mean value of the weighted mean values.

6. Method according to any of the preceding claims, characterized in that the normalization according to step e) is carried out using a multi-point adjustment, in particular a 9-point adjustment or a 15-point adjustment.

7. Method according to claim 6, characterized in that an external magnetic field influencing the measurements is determined from the difference between the two differently calculated changes in position, these changes in position being corrected by means of the multi-point adjustment.

8. Method according to any of the preceding claims, characterized in that an external magnetic field influencing the measurements is determined from the difference between the two differently calculated changes in position, these changes in position being corrected by means of an adjustment using a measurement under laboratory conditions.

9. Method according to any of the preceding claims, characterized in that a predefinable constant Amax is taken into account when calculating the weighting factor, which constant describes the degree of deviation between the differential and non-differentially calculated change in position, from which the signal from the differentially calculated change in position according to step d) is used exclusively for calculating the change in position.

10. Method according to any of the preceding claims, characterized in that a predefinable constant Odiff is taken into account when calculating the weighting factor, which constant can predefine what percentage of the differential signal is to be used for calculating the change in position.