CN103308039A - Digital magnetic compass and calibration compensation method and calibration compensation system thereof - Google Patents
Digital magnetic compass and calibration compensation method and calibration compensation system thereof Download PDFInfo
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Abstract
The invention belongs to the technical field of digital magnetic compass calibration and provides a digital magnetic compass with a temperature compensation function and a calibration compensation method and a calibration compensation system thereof. According to the method and the system, after the three-dimensional attitude data is acquired, the temperature compensation coefficient is calculated by utilizing the current magnetic field intensity signal in the three-dimensional attitude data and combining the maximum magnetic field strength and the minimum magnetic field strength of an X axis and the maximum magnetic field strength and the minimum magnetic field strength of a Y axis during normal temperature calibration, and the azimuth angle is calculated. Because the calculated temperature compensation coefficient is not a constant value and is changed along with different sensor circuit parameters of different equipment, the influence brought by the product consistency difference in the conventional temperature compensation method is eliminated, and the detection precision is high.
Description
Technical field
The invention belongs to Digital Magnetic Compass alignment technique field, relate in particular to a kind of Digital Magnetic Compass with temperature compensation function and compensation for calibrating errors method thereof, system.
Background technology
In the modern navigation system, generally use Digital Magnetic Compass that auxiliary course information is provided.Show typical structure based on the Digital Magnetic Compass of magnetoresistive transducer as Fig. 1.Its principle of work is: the acceleration of gravity sensor detects angle of pitch signal and the roll angle signal of Digital Magnetic Compass; The single shaft magnetoresistive transducer detects the magnetic field intensity signal of Z direction; The diaxon magnetoresistive transducer detects the magnetic field intensity signal of directions X and Y-direction; Signal amplification circuit amplifies processing to the magnetic field intensity signal of directions X and Y-direction; Microprocessor calculates and works as forward angle according to the magnetic field intensity signal of magnetic field intensity signal, directions X and the Y-direction of angle of pitch signal, roll angle signal, Z direction; The set/reset circuit recovers by the strong recovery magnetic field of transient state or keeps sensor characteristic.
According to the difference of the applied equipment of Digital Magnetic Compass, different to the requirement of Digital Magnetic Compass precision, for example, mobile phone is not high to the accuracy requirement of Digital Magnetic Compass yet, and the vehicles such as automobile and steamer are then had relatively high expectations to the precision of Digital Magnetic Compass.And it is more to influence the Digital Magnetic Compass factors of accuracy, comprises that the resolution, environment temperature, compass inclination, Hard Magnetic interference of sensor in the Digital Magnetic Compass etc., particularly Hard Magnetic disturb bigger to the influence of Digital Magnetic Compass precision.
In order to guarantee the accuracy of detection of Digital Magnetic Compass, in the prior art, need before Digital Magnetic Compass uses, to carry out the Hard Magnetic calibration.The conventional method of Hard Magnetic calibration is: Digital Magnetic Compass is rotated a circle, maximum magnetic field strength and the minimum-B configuration intensity of the maximum magnetic field strength of collection X-axis and minimum-B configuration intensity, Y-axis, and calculate the penalty coefficient of X-direction and the Hard Magnetic calibration factor of Y direction accordingly; Afterwards, in the use of Digital Magnetic Compass, the magnetic field intensity of utilizing penalty coefficient and actual detected to arrive calculates the position angle.
This kind Hard Magnetic calibration steps carries out at normal temperatures, does not consider that temperature is to the influence of Digital Magnetic Compass sensitivity.But in practice, the sensitivity of the magnetoresistive transducer in the Digital Magnetic Compass is subjected to the influence of environment temperature bigger, and there is linear relationship in its variation relation between the sensitivity of environment temperature and Digital Magnetic Compass as shown in Figure 2.As seen, the environment temperature difference, the Hard Magnetic calibration factor of Digital Magnetic Compass is also different, if the Hard Magnetic calibration factor that still adopts conventional method to calculate, the azimuthal error that calculates will be very big.
For this reason, prior art has proposed a kind of calibration steps with temperature compensation, and this method is that the Hard Magnetic calibration factor that will obtain under the normal temperature multiply by a temperature compensation coefficient, computer azimuth angle more afterwards, the influence that brings with compensation temperature.But because the consistency of product difference problem, the temperature compensation coefficient of each Digital Magnetic Compass may not be all identical, if adopt identical temperature compensation coefficient, the precision of Digital Magnetic Compass can't be guaranteed.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of compensation for calibrating errors method of Digital Magnetic Compass, be intended to solve existing calibration steps with temperature compensation and adopt same temperature compensation coefficient, and do not consider the homogeneity of product difference problem of Digital Magnetic Compass, make the lower problem of accuracy of detection of Digital Magnetic Compass.
The embodiment of the invention is achieved in that a kind of compensation for calibrating errors method of Digital Magnetic Compass, said method comprising the steps of:
According to the calibration command of user's input, the control sensor is gathered the 3 d pose data;
Receive and handle the described 3 d pose data of amplifying through signal amplification circuit, utilize the current magnetic field strength signal in the described 3 d pose data and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, the accounting temperature penalty coefficient;
Utilize described temperature compensation coefficient and described 3 d pose data, calculate current position angle.
Another purpose of the embodiment of the invention is to provide a kind of compensation for calibrating errors system of Digital Magnetic Compass, and described system comprises:
Acquisition control module is used for the calibration command according to user's input, and the control sensor is gathered the 3 d pose data;
First computing module, be used for receiving and handling the described 3 d pose data of amplifying through signal amplification circuit, utilize the current magnetic field strength signal in the described 3 d pose data and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, the accounting temperature penalty coefficient;
Second computing module is used for utilizing described temperature compensation coefficient and described 3 d pose data, calculates current position angle.
Another purpose of the embodiment of the invention is to provide a kind of Digital Magnetic Compass, comprise acceleration of gravity sensor, single shaft magnetoresistive transducer, diaxon magnetoresistive transducer, signal amplification circuit, microprocessor and set/reset circuit, it is characterized in that described microprocessor comprises the compensation for calibrating errors system of aforesaid Digital Magnetic Compass.
The compensation for calibrating errors method and system of Digital Magnetic Compass provided by the invention are after gathering the 3 d pose data, utilize the current magnetic field strength signal in the 3 d pose data, and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, come the accounting temperature penalty coefficient, and then calculate the position angle.Because the temperature compensation coefficient that calculates not is certain value, but change along with the sensor circuit parameter difference of distinct device, thereby eliminated the influence that brings owing to the homogeneity of product difference problem in the existing temperature compensation, accuracy of detection is higher.
Description of drawings
Fig. 1 is in the prior art, based on the exemplary block diagram of the Digital Magnetic Compass of magnetoresistive transducer;
Fig. 2 is the sensitivity of Digital Magnetic Compass and the graph of a relation between the environment temperature;
Fig. 3 is the process flow diagram of the compensation for calibrating errors method of the Digital Magnetic Compass that provides of the embodiment of the invention;
Fig. 4 is that the output of magnetoresistive transducer is with the variation of temperature graph of a relation;
Fig. 5 is the structural drawing of the compensation for calibrating errors system of the Digital Magnetic Compass that provides of the embodiment of the invention;
Fig. 6 is in the embodiment of the invention, the circuit diagram of set/reset circuit.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the present invention, and be not used in restriction the present invention.
Problem at the prior art existence, the compensation for calibrating errors method of the Digital Magnetic Compass that the embodiment of the invention proposes is after gathering the 3 d pose data, utilize the current magnetic field strength signal in the 3 d pose data, the accounting temperature penalty coefficient, and then calculate the position angle.
Fig. 3 shows the flow process of the compensation for calibrating errors method of the Digital Magnetic Compass that the embodiment of the invention provides, and comprising:
Step S11: according to the calibration command of user's input, the control sensor is gathered the 3 d pose data.
In the embodiment of the invention, sensor comprises diaxon magnetoresistive transducer, single shaft magnetoresistive transducer and acceleration of gravity sensor; Correspondingly, the 3 d pose data comprise the current magnetic field strength signal X of diaxon magnetoresistive transducer collection X-axis and the current magnetic field strength signal Y of Y-axis, the single shaft magnetoresistive transducer is gathered the current magnetic field strength signal Z of Z axle, and the acceleration of gravity sensor is gathered angle of pitch α and roll angle β.Afterwards, when entering into signal amplification circuit, magnetic field intensity signal X, current magnetic field strength signal Y, current magnetic field strength signal Z, angle of pitch α and roll angle β amplify processing.
Step S12: receive and handle the 3 d pose data of amplifying through signal amplification circuit, utilize the current magnetic field strength signal in the 3 d pose data and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, the accounting temperature penalty coefficient.
In the embodiment of the invention, as shown in Figure 4, during the normal temperature calibration, Digital Magnetic Compass is rotated a circle, the magnetic field intensity curve of the X-axis that obtains, Y-axis is roughly with (x
0, y
0) be the center of circle, radius is R
0Circle; When temperature variation, the magnetic field intensity curve becomes the center of circle and is (Kx
0, Ky
0), radius is KR
0Circle, K is temperature compensation coefficient.Then step S12 further comprises:
Step S121: calculate the maximum magnetic field strength of X-axis and first difference of minimum-B configuration intensity;
Step S122: calculate the maximum magnetic field strength of Y-axis and two differences of minimum-B configuration intensity;
Step S123: calculate the ratio of first difference and second difference, obtain Hard Magnetic and disturb scaling factor;
Step S124: calculate the maximum magnetic field strength of X-axis and the mean value of minimum-B configuration intensity, and mean value and the amassing of Hard Magnetic interference scaling factor of calculating maximum magnetic field strength and the minimum-B configuration intensity of Y-axis, the central coordinate of circle of magnetic field intensity curve when obtaining the normal temperature calibration;
Step S125: calculate 1/2 of first difference, the radius of magnetic field intensity curve when obtaining the normal temperature calibration;
Step S126: with the current magnetic field strength signal X of the X-axis current magnetic field intensity level as X-axis, disturb the product of scaling factor as the current magnetic field intensity level of Y-axis current magnetic field strength signal Y and the Hard Magnetic of Y-axis;
Step S127: the relation equation formula between the magnetic field intensity curve when the magnetic field intensity curve when utilizing the normal temperature calibration and temperature variation, find the solution and obtain temperature compensation coefficient.
Further, the embodiment of the invention is before step S11, and is further comprising the steps of: when normal temperature is calibrated, and maximum magnetic field strength and the minimum-B configuration intensity of the maximum magnetic field strength of collection and storing X axle and minimum-B configuration intensity, Y-axis.Specifically, when supposing the normal temperature calibration, Digital Magnetic Compass is rotated a circle, the maximum magnetic field strength of the X-axis that obtains is that Xmax, minimum-B configuration intensity are Xmin, the maximum magnetic field strength of the Y-axis that obtains is that Ymax, minimum-B configuration intensity are Ymin, and it is K that Hard Magnetic disturbs scaling factor
0, first difference is Xpp, and second difference is Ypp, and the current magnetic field intensity level of X-axis is X', and the current magnetic field intensity level of Y-axis is Y', then step S121 can be expressed as to step S127:
Xpp=Xmax-Xmin （1）
Ypp=Ymax-Ymin （2）
K
0=Xpp/Ypp （3）
X
0=(Xmin+Xmax)/2 （4）
Y
0=K
0(Ymin+Ymax)/2 （5）
R
0=Xpp/2 （6）
X'=X （7）
Y'=K
0Y （8）
(X'-KX
0)
2+(Y'-KY
0)
2=(KR
0)
2 （9）
Step S13: utilize temperature compensation coefficient and 3 d pose data, calculate current position angle.
In the embodiment of the invention, utilize temperature compensation coefficient K, current magnetic field strength signal, angle of pitch α, roll angle β, and maximum magnetic field strength Ymax and the minimum-B configuration intensity Ymin of the maximum magnetic field strength Xmax of normal temperature when calibration, X-axis and minimum-B configuration intensity Xmin, Y-axis, calculate current position angle Ψ.Specifically, step S13 can comprise:
Step S131: the 3 d pose data are converted to two-dimentional sensing data, are expressed as:
Hgx=Hxcosα+Hysinβsinα-Hzcosβsinα （10）
Hgy=Hycosβ+Hzsinβ （11）
Then two-dimentional X-axis sensing data Hgx and two-dimentional Y-axis sensing data Hgy constitute two-dimentional sensing data.
Step S132: calculate X-axis scaling factor Hxsf and Y-axis scaling factor Hysf, be expressed as:
Hxsf=max[1,(KYmax-KYmin)/(KXmax-KXmin)] （12）
Hysf=max[1,(KXmax-KXmin)/(KYmax-KYmin)] （13）
Step S133: utilize X-axis scaling factor Hxsf to calculate X-axis zero offset value Hxoff, utilize Y-axis scaling factor Hysf to calculate Y-axis zero offset value Hyoff, be expressed as:
Hxoff=((KXmax-KXmin)/2-KXmax)*Hxsf （14）
Hyoff=((KYmax-KYmin)/2-KYmax)*Hysf （15）
Step S134: utilize X-axis zero offset value Hxoff, Y-axis zero offset value Hyoff, two-dimentional X-axis sensing data Hgx, two-dimentional Y-axis sensing data Hgy, computer azimuth angle Ψ is expressed as:
Ψ=arctan((Hgy+Hyoff)/Hgx+Hxoff)) （16）
The compensation for calibrating errors method of the Digital Magnetic Compass that the embodiment of the invention provides is after gathering the 3 d pose data, utilize the current magnetic field strength signal in the 3 d pose data, and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, come the accounting temperature penalty coefficient, and then calculate the position angle.Because the temperature compensation coefficient that calculates not is certain value, but change along with the sensor circuit parameter difference of distinct device, thereby eliminated the influence that brings owing to the homogeneity of product difference problem in the existing temperature compensation, accuracy of detection is higher.
The embodiment of the invention also provides a kind of compensation for calibrating errors system of Digital Magnetic Compass, and Fig. 5 shows the structure of the compensation for calibrating errors system of the Digital Magnetic Compass that the embodiment of the invention provides, and for convenience of explanation, only shows the part relevant with the embodiment of the invention.
Specifically, the compensation for calibrating errors system of the Digital Magnetic Compass that the embodiment of the invention provides comprises: acquisition control module 11, be used for the calibration command according to user's input, and the control sensor is gathered the 3 d pose data; First computing module 12, be used for receiving and handling the 3 d pose data of amplifying through signal amplification circuit, utilize the current magnetic field strength signal in the 3 d pose data and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, the accounting temperature penalty coefficient; Second computing module 13 is used for utilizing temperature compensation coefficient and 3 d pose data, calculates current position angle.
In the embodiment of the invention, sensor comprises diaxon magnetoresistive transducer, single shaft magnetoresistive transducer and acceleration of gravity sensor; Correspondingly, the 3 d pose data comprise the current magnetic field strength signal X of diaxon magnetoresistive transducer collection X-axis and the current magnetic field strength signal Y of Y-axis, the single shaft magnetoresistive transducer is gathered the current magnetic field strength signal Z of Z axle, and the acceleration of gravity sensor is gathered angle of pitch α and roll angle β.Afterwards, when entering into signal amplification circuit, magnetic field intensity signal X, current magnetic field strength signal Y, current magnetic field strength signal Z, angle of pitch α and roll angle β amplify processing.
Further, the compensation for calibrating errors system of the Digital Magnetic Compass that the embodiment of the invention provides can also comprise: normal temperature calibration module (not shown), be used for when normal temperature is calibrated maximum magnetic field strength and the minimum-B configuration intensity of the maximum magnetic field strength of collection and storing X axle and minimum-B configuration intensity, Y-axis.
Further, first computing module 12 can comprise: first calculating sub module is used for calculating the maximum magnetic field strength of X-axis and first difference of minimum-B configuration intensity; Second calculating sub module is used for calculating the maximum magnetic field strength of Y-axis and two differences of minimum-B configuration intensity; The 3rd calculating sub module for the ratio that calculates first difference and second difference, obtains Hard Magnetic and disturbs scaling factor; The 4th calculating sub module, be used for calculating the maximum magnetic field strength of X-axis and the mean value of minimum-B configuration intensity, and mean value and the amassing of Hard Magnetic interference scaling factor of calculating maximum magnetic field strength and the minimum-B configuration intensity of Y-axis, the central coordinate of circle of magnetic field intensity curve when obtaining the normal temperature calibration; The 5th calculating sub module is used for calculating 1/2 of first difference, the radius of magnetic field intensity curve when obtaining the normal temperature calibration; The 6th calculating sub module is used for the current magnetic field intensity level as X-axis with the current magnetic field strength signal X of X-axis, with the product of the current magnetic field strength signal Y of Y-axis and the Hard Magnetic interference scaling factor current magnetic field intensity level as Y-axis; The 7th calculating sub module, the relation equation formula between the magnetic field intensity curve when the magnetic field intensity curve when being used for utilizing the normal temperature calibration and temperature variation is found the solution and is obtained temperature compensation coefficient, and this relation equation formula is expressed as: (X'-KX
0)
2+ (Y'-KY
0)
2=(KR
0)
2
Further, second computing module 13 can comprise: the conversion submodule, be used for according to formula (10) and formula (11), and the 3 d pose data are converted to two-dimentional sensing data; The 8th calculating sub module is used for according to formula (12) and formula (13), calculates X-axis scaling factor and Y-axis scaling factor; The 9th calculating sub module is used for according to formula (14) and formula (15), utilizes the X-axis scaling factor to calculate X-axis zero offset value, utilizes the Y-axis scaling factor to calculate Y-axis zero offset value; The tenth calculating sub module is used for according to formula (16), utilizes X-axis zero offset value, Y-axis zero offset value, two-dimentional X-axis sensing data, two-dimentional Y-axis sensing data, computer azimuth angle.
The embodiment of the invention also provides a kind of Digital Magnetic Compass, comprises acceleration of gravity sensor, single shaft magnetoresistive transducer, diaxon magnetoresistive transducer, signal amplification circuit, microprocessor and set/reset circuit.Wherein, microprocessor also comprises the compensation for calibrating errors system of aforesaid Digital Magnetic Compass, does not give unnecessary details at this.
Wherein, the set/reset circuit is in order to eliminate the strong magnetic interference that moment occurs.Its principle is: it is 7.7 ohm set/reset electric current band that two resistances are arranged on the chip of magnetoresistive transducer, permalloy applied to reach 2 microsecond strength of current be the pulse current of 0.5～4A, by recovering or keep sensor characteristic in the strong recovery magnetic field of transient state.In case sensor is set or resets, can realize low noise and highly sensitive magnetic-field measurement.Circulate in normal work period, to improve the linearity, reduce influence and the temperature effect of Z-axis.In real work, can carry out reset operation after the first set to the chip of magnetoresistive transducer, half of set voltage and resetting voltage difference namely is field strength values, this circuit can be eliminated biasing and the temperature effect that electron device and electric bridge temperature drift cause.Show in the embodiment of the invention as Fig. 6, the circuit structure of set/reset circuit, this circuit is based on IRF7105 chip U1 and peripheral circuit thereof.
The compensation for calibrating errors method and system of the Digital Magnetic Compass that the embodiment of the invention provides are after gathering the 3 d pose data, utilize the current magnetic field strength signal in the 3 d pose data, and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, come the accounting temperature penalty coefficient, and then calculate the position angle.Because the temperature compensation coefficient that calculates not is certain value, but change along with the sensor circuit parameter difference of distinct device, thereby eliminated the influence that brings owing to the homogeneity of product difference problem in the existing temperature compensation, accuracy of detection is higher.
One of ordinary skill in the art will appreciate that all or part of step that realizes in above-described embodiment method is can control relevant hardware by program to finish, described program can be in being stored in a computer read/write memory medium, described storage medium is as ROM/RAM, disk, CD etc.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the compensation for calibrating errors method of a Digital Magnetic Compass is characterized in that, said method comprising the steps of:
According to the calibration command of user's input, the control sensor is gathered the 3 d pose data;
Receive and handle the described 3 d pose data of amplifying through signal amplification circuit, utilize the current magnetic field strength signal in the described 3 d pose data, and when calibrating in conjunction with normal temperature, maximum magnetic field strength and the minimum-B configuration intensity of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis, the accounting temperature penalty coefficient;
Utilize described temperature compensation coefficient and described 3 d pose data, calculate current position angle.
2. the compensation for calibrating errors method of Digital Magnetic Compass as claimed in claim 1 is characterized in that, described sensor comprises diaxon magnetoresistive transducer, single shaft magnetoresistive transducer and acceleration of gravity sensor; Described 3 d pose data comprise the current magnetic field strength signal of the X-axis that described diaxon magnetoresistive transducer is gathered and the current magnetic field strength signal of Y-axis, the current magnetic field strength signal of the Z axle that described single shaft magnetoresistive transducer is gathered, and the angle of pitch and the roll angle of the collection of described acceleration of gravity sensor.
3. the compensation for calibrating errors method of Digital Magnetic Compass as claimed in claim 2 is characterized in that, the step of described accounting temperature penalty coefficient comprises:
Calculate the maximum magnetic field strength of described X-axis and first difference of minimum-B configuration intensity;
Calculate the maximum magnetic field strength of described Y-axis and two differences of minimum-B configuration intensity;
Calculate the ratio of described first difference and described second difference, obtain Hard Magnetic and disturb scaling factor;
Calculate the mean value of maximum magnetic field strength and the minimum-B configuration intensity of described X-axis, and mean value and the amassing of described Hard Magnetic interference scaling factor of calculating maximum magnetic field strength and the minimum-B configuration intensity of described Y-axis, the central coordinate of circle of magnetic field intensity curve when obtaining the normal temperature calibration;
Calculate 1/2 of described first difference, the radius of magnetic field intensity curve when obtaining the calibration of described normal temperature;
With the current magnetic field strength signal of the described X-axis current magnetic field intensity level as X-axis, disturb the product of scaling factor as the current magnetic field intensity level of Y-axis current magnetic field strength signal and the described Hard Magnetic of described Y-axis;
Relation equation formula between the magnetic field intensity curve when magnetic field intensity curve when utilizing described normal temperature to calibrate and temperature variation is found the solution and is obtained temperature compensation coefficient.
4. the compensation for calibrating errors method of Digital Magnetic Compass as claimed in claim 3 is characterized in that, described relation equation formula is expressed as:
(X'-KX
0)
2+(Y'-KY
0)
2=(KR
0)
2
Wherein, X' is the current magnetic field intensity level of X-axis, and Y' is the current magnetic field intensity level of Y-axis, and K is temperature compensation coefficient, X
0The center of circle horizontal ordinate of magnetic field intensity curve when being the calibration of described normal temperature, Y
0The center of circle ordinate of magnetic field intensity curve when being the calibration of described normal temperature, R
0The radius of magnetic field intensity curve when being the calibration of described normal temperature.
5. the compensation for calibrating errors method of Digital Magnetic Compass as claimed in claim 3 is characterized in that, described temperature compensation coefficient and the 3 d pose data utilized calculate current azimuthal step and comprise:
Described 3 d pose data are converted to two-dimentional sensing data, and described two-dimentional sensing data comprises two-dimentional X-axis sensing data and two-dimentional Y-axis sensing data;
Calculate X-axis scaling factor and Y-axis scaling factor;
Utilize described X-axis scaling factor to calculate X-axis zero offset value, utilize described Y-axis scaling factor to calculate Y-axis zero offset value;
Utilize described X-axis zero offset value, described Y-axis zero offset value, described two-dimentional X-axis sensing data, described two-dimentional Y-axis sensing data, computer azimuth angle.
6. the compensation for calibrating errors method of Digital Magnetic Compass as claimed in claim 5 is characterized in that, the step of described calculating X-axis scaling factor and Y-axis scaling factor is expressed as:
Hxsf=max[1,(KYmax-KYmin)/(KXmax-KXmin)]
Hysf=max[1,(KXmax-KXmin)/(KYmax-KYmin)]
Wherein, Hxsf is the X-axis scaling factor, and Hysf is the Y-axis scaling factor, K is temperature compensation coefficient, and Ymax is the maximum magnetic field strength of described Y-axis, and Ymin is the minimum-B configuration intensity of described Y-axis, Xmax is the maximum magnetic field strength of described X-axis, and Xmin is the minimum-B configuration intensity of described X-axis;
Describedly utilize described X-axis scaling factor to calculate X-axis zero offset value, utilize described Y-axis scaling factor to calculate Y-axis zero offset value representation to be:
Hxoff=((KXmax-KXmin)/2-KXmax)*Hxsf
Hyoff=((KYmax-KYmin)/2-KYmax)*Hysf
Wherein, Hxoff is X-axis zero offset value, and Hyoff is Y-axis zero offset value.
7. as the compensation for calibrating errors method of each described Digital Magnetic Compass of claim 1 to 6, it is characterized in that in described calibration command according to user's input, the control sensor is gathered before the step of 3 d pose data, described method also comprises:
When the calibration of described normal temperature, gather and store maximum magnetic field strength and the minimum-B configuration intensity of the maximum magnetic field strength of described X-axis and minimum-B configuration intensity, Y-axis.
8. the compensation for calibrating errors system of a Digital Magnetic Compass is characterized in that, described system comprises:
Acquisition control module is used for the calibration command according to user's input, and the control sensor is gathered the 3 d pose data;
First computing module, be used for receiving and handling the described 3 d pose data of amplifying through signal amplification circuit, utilize the current magnetic field strength signal in the described 3 d pose data and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, the accounting temperature penalty coefficient;
Second computing module is used for utilizing described temperature compensation coefficient and described 3 d pose data, calculates current position angle.
9. the compensation for calibrating errors system of Digital Magnetic Compass as claimed in claim 8 is characterized in that, described system also comprises:
The normal temperature calibration module is used for when described normal temperature calibration, gathers and store maximum magnetic field strength and the minimum-B configuration intensity of the maximum magnetic field strength of described X-axis and minimum-B configuration intensity, Y-axis;
Described first computing module comprises:
First calculating sub module is used for calculating the maximum magnetic field strength of described X-axis and first difference of minimum-B configuration intensity;
Second calculating sub module is used for calculating the maximum magnetic field strength of described Y-axis and two differences of minimum-B configuration intensity;
The 3rd calculating sub module for the ratio that calculates described first difference and described second difference, obtains Hard Magnetic and disturbs scaling factor;
The 4th calculating sub module, be used for calculating the maximum magnetic field strength of described X-axis and the mean value of minimum-B configuration intensity, and mean value and the amassing of described Hard Magnetic interference scaling factor of calculating maximum magnetic field strength and the minimum-B configuration intensity of described Y-axis, the central coordinate of circle of magnetic field intensity curve when obtaining the normal temperature calibration;
The 5th calculating sub module is used for calculating 1/2 of described first difference, the radius of magnetic field intensity curve when obtaining the normal temperature calibration;
The 6th calculating sub module, be used for the current magnetic field strength signal of the described 3 d pose data X-axis current magnetic field intensity level as X-axis, with the product of the current magnetic field strength signal of Y-axis in the described 3 d pose data and the described Hard Magnetic interference scaling factor current magnetic field intensity level as Y-axis;
The 7th calculating sub module, the relation equation formula between the magnetic field intensity curve when the magnetic field intensity curve when being used for utilizing described normal temperature to calibrate and temperature variation is found the solution and is obtained temperature compensation coefficient;
Described second computing module comprises:
The conversion submodule is used for described 3 d pose data are converted to two-dimentional sensing data, and described two-dimentional sensing data comprises two-dimentional X-axis sensing data and two-dimentional Y-axis sensing data;
The 8th calculating sub module is used for calculating X-axis scaling factor and Y-axis scaling factor;
The 9th calculating sub module is used for the described X-axis scaling factor of utilizing and calculates X-axis zero offset value, utilizes described Y-axis scaling factor to calculate Y-axis zero offset value;
The tenth calculating sub module is used for described utilize X-axis zero offset value, described Y-axis zero offset value, described two-dimentional X-axis sensing data, described two-dimentional Y-axis sensing data, computer azimuth angle.
10. Digital Magnetic Compass, comprise acceleration of gravity sensor, single shaft magnetoresistive transducer, diaxon magnetoresistive transducer, signal amplification circuit, microprocessor and set/reset circuit, it is characterized in that described microprocessor comprises the compensation for calibrating errors system of Digital Magnetic Compass as claimed in claim 8 or 9.
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| CN103868512A (en) * | 2014-03-25 | 2014-06-18 | 西安电子科技大学 | High-precision aircraft heading and attitude test circuit |
| CN107861083A (en) * | 2017-11-08 | 2018-03-30 | 歌尔科技有限公司 | A kind of magnetometer calibration method and apparatus |
| CN107861084A (en) * | 2017-11-08 | 2018-03-30 | 歌尔科技有限公司 | A kind of magnetometer calibration method and device |
| CN109342984A (en) * | 2018-11-16 | 2019-02-15 | 南方电网科学研究院有限责任公司 | Temperature and humidity influence correction compensation system and method for magnetic resistance chip |
| CN109737939A (en) * | 2019-01-30 | 2019-05-10 | 深圳市沃感科技有限公司 | A kind of method and device for realizing the comprehensive installation of electronic compass |
| CN112525144A (en) * | 2020-11-13 | 2021-03-19 | 恒鸿达科技有限公司 | Nonlinear attitude detection compensation method and terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103868512A (en) * | 2014-03-25 | 2014-06-18 | 西安电子科技大学 | High-precision aircraft heading and attitude test circuit |
| CN107861083A (en) * | 2017-11-08 | 2018-03-30 | 歌尔科技有限公司 | A kind of magnetometer calibration method and apparatus |
| CN107861084A (en) * | 2017-11-08 | 2018-03-30 | 歌尔科技有限公司 | A kind of magnetometer calibration method and device |
| CN107861083B (en) * | 2017-11-08 | 2019-11-29 | 歌尔科技有限公司 | A kind of magnetometer calibration method and apparatus |
| CN107861084B (en) * | 2017-11-08 | 2019-11-29 | 歌尔科技有限公司 | A kind of magnetometer calibration method and device |
| CN109342984A (en) * | 2018-11-16 | 2019-02-15 | 南方电网科学研究院有限责任公司 | Temperature and humidity influence correction compensation system and method for magnetic resistance chip |
| CN109737939A (en) * | 2019-01-30 | 2019-05-10 | 深圳市沃感科技有限公司 | A kind of method and device for realizing the comprehensive installation of electronic compass |
| CN109737939B (en) * | 2019-01-30 | 2021-05-14 | 深圳市沃感科技有限公司 | Method and device for realizing omnibearing installation of electronic compass |
| US11313935B2 (en) | 2019-09-09 | 2022-04-26 | Apple Inc. | In-field soft magnetic distortion hardware compensation |
| CN112525144A (en) * | 2020-11-13 | 2021-03-19 | 恒鸿达科技有限公司 | Nonlinear attitude detection compensation method and terminal |
| CN117537792A (en) * | 2024-01-03 | 2024-02-09 | 西南应用磁学研究所(中国电子科技集团公司第九研究所) | Electronic compass self-adaptive azimuth correction method |
| CN117537792B (en) * | 2024-01-03 | 2024-04-30 | 西南应用磁学研究所(中国电子科技集团公司第九研究所) | Electronic compass self-adaptive azimuth correction method |
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