Mobile electronic equipment with gyro sensor, gyro sensor correction method, and program
A mobile electronic equipment includes a gyro sensor that detects an angular velocity, a first housing with the gyro sensor disposed therein, a second housing movably connected to the first housing, an angle formed between the respective housings being changed by movement of the first housing, and a control unit that calculates a change in an angle formed between the first housing and the second housing before and after the movement as a measured angle, based on output data of the gyro sensor. The control unit calculates a correction value for the output data of the gyro sensor based on the measured angle and a reference angle set in advance (see FIG. 1 ).
1. A mobile electronic equipment, comprising:
a gyro sensor that detects an angular velocity;
a first housing with the gyro sensor disposed therein;
a second housing movably connected to the first housing, an angle formed between the first housing and the second housing being changed by movement of at least one of the first housing and the second housing;
wherein the first housing and the second housing form a first mode and a second mode;
a housing angle detection unit configured to detect a start and a finish of a change in an angle formed between the first housing and the second housing in each of the first mode and the second mode;
a control unit configured to calculate the change in the angle formed between the first housing and the second housing in each of the first mode and the second mode before and after a movement as a measured angle, based on output data of the gyro sensor, and calculate a correction value for the output data of the gyro sensor based on the measured angle and a reference angle set in advance, the reference angle being an angle formed between the first housing and the second housing when the mobile electronic equipment is opened,
wherein the control unit is further configured to calculate the measured angle from a value of change in angular velocity during a period of time from the start to the finish of the change in the angle; and wherein when the housing angle detection unit detects the start of the change in the angle, the control unit is configured to repeat angular velocity acquisition using the gyro sensor, calculate a value of the change in the angle formed between the first housing and the second housing from a period of time in which the first housing moves during the angular velocity acquisition, calculate the measured angle from a value of the change in the angle when the housing angle detection unit detects the finish of the change in the angle; and
wherein the control unit is configured to calibrate the gyro sensor by automatically correcting the output data of the gyro sensor using the correction value.
2. The mobile electronic equipment according to claim 1 , wherein
the control unit is further configured to divide a value obtained by subtracting the reference angle from the measured angle by the period of time from the start to the finish of the change in the angle detected by the housing angle detection unit, thereby calculating the correction value.
3. The mobile electronic equipment according to claim 1 , wherein
in the gyro sensor, an angular velocity detection axis of the gyro sensor and a base axis for movement of the first housing are disposed not to be orthogonal.
4. The mobile electronic equipment according to claim 1 , wherein
the first mode is a mode in which a surface of the first housing and a surface of the second housing are in contact with each other; and
the second mode is a mode in which the first housing and the second housing form a given angle centering on a connecting point between the first housing and the second housing, and are fixed.
5. The mobile electronic equipment according to claim 1 , wherein
the housing angle detection unit comprises:
an angle change start detection unit configured to detect the start of the change in the angle; and
an angle change finish detection unit configured to detect the finish of the change in the angle.
6. The mobile electronic equipment according to claim 5 , wherein
the angle change finish detection unit is further configured to detect the finish of the change in the angle, based on an operation by a user.
7. The mobile electronic equipment according to claim 1 , wherein
the gyro sensor is a vibration-type gyro sensor.
8. The mobile electronic equipment according to claim 1 , wherein
the second housing is configured to be fixed by a user during the period of time from the start to the finish of the change in the angle.
9. The mobile electronic equipment according to claim 1 , wherein
when the control unit is further configured to detect that the second housing is not fixed during the period of time from the start to the finish of the change in the angle, the control unit does not calculate the correction value.
10. The mobile electronic equipment according to claim 1 , wherein
the first mode is a closed state of the mobile electronic equipment that is foldable, and the second mode is an open state of the mobile electronic equipment that is foldable.
11. A method of correcting a gyro sensor of a mobile electronic equipment, comprising:
using a mobile electronic equipment which comprises:
a gyro sensor that detects an angular velocity;
a first housing with the gyro sensor disposed therein;
a second housing movably connected to the first housing, an angle formed between the first housing and the second housing being changed by movement of at least one of the housings,
wherein the first housing and the second housing form a first mode and a second mode; a housing angle detection unit; and
a control unit;
the method further comprising:
detecting a start and a finish of a change in an angle formed between the first housing and the second housing in each of the first mode and the second mode;
calculating the change in the angle formed between the first housing and the second housing before and after a movement as a measured angle, based on output data of the gyro sensor;
calculating a correction value for the output data of the gyro sensor based on the measured angle and a reference angle set in advance the reference angle being an angle formed between the first housing and the second housing when the mobile electronic equipment is opened;
calculating the measured angle from a value of change in angular velocity during a period of time from the start to the finish of the change in the angle; and
when the start of the change in the angle is detected, repeating angular velocity acquisition using the gyro sensor, and calculating a value of the change in the angle from a period of time in which the first housing moves during the angular velocity acquisition, and when the finish of the change in the angle is detected, calculating the measured angle from a value of the change in the angle and calibrating the gyro sensor by automatically correcting the output data of the gyro sensor using the correction value.
12. The method of correcting a gyro sensor of a mobile electronic equipment according to claim 11 , wherein
a value obtained by subtracting a reference angle from the measured angle is divided by a period of time from the start to the finish of the change in the angle detected by the housing angle detection unit, thereby calculating the correction value.
13. A computer readable non-transitory medium storing a program for causing a computer that controls a mobile electronic equipment, wherein the program executes by using a mobile electronic equipment comprising:
a gyro sensor that detects an angular velocity;
a first housing with the gyro sensor disposed therein;
a second housing movably connected to the first housing, an angle formed between the first housing and the second housing being changed by movement of at least one of the housings,
wherein the first housing and the second housing form a first mode and a second mode;
a housing angle detection unit; and
a control unit;
the program causing the computer to execute processes of:
detecting a start and a finish of a change in an angle formed between the first housing and the second housing in each of the first mode and the second mode;
calculating the change in the angle formed between the first housing and the second housing before and after a movement as a measured angle, based on output data of the gyro sensor;
calculating a correction value for the output data of the gyro sensor based on the measured angle and a reference angle set in advance, the reference angle being an angle formed between the first housing and the second housing when the mobile electronic equipment is opened;
calculating the measured angle from a value of change in angular velocity during a period of time from the start to the finish of the change in the angle;
when the start of the change in the angle is detected, repeating angular velocity acquisition using the gyro sensor, and calculating a value of the change in the angle from a period of time in which the first housing moves during the angular velocity acquisition, and when the finish of the change in the angle is detected, calculating the measured angle from a value of the change in the angle and calibrating the gyro sensor by automatically correcting the output data of the gyro sensor using the correction value.
14. The computer readable non-transitory medium according to claim 13 , wherein
a value obtained by subtracting a reference angle from the measured angle is divided by the period of time from the start to the finish of the change in the angle detected by the housing angle detection unit, thereby calculating the correction value.