Offset calculation device and azimuth sensor therewith
For triaxial magnetic detection data sequentially acquired as data points in a triaxial coordinate system, an offset calculation unit 30 calculates virtual data points P 1 ′-P 6 ′ by evenly parallel-translating each of data points P 1 -P 7 so that a reference data point P 7 , for example, arbitrarily chosen from the data points P 1 -P 7 coincides with an origin point O. A virtual offset point C′ for which the sum of the distances between the virtual data points P 1 ′-P 6 ′ and a curved surface H 1 passing through the origin point O is minimized is then calculated. An offset value C for the magnetic detection data is then calculated by parallel-translating the virtual offset point C′ so as to restore the parallel-translated portion.
1. An azimuth sensor comprising:
a magnetism detection device configured to generate three-axis or two-axis magnetism detection data;
an offset calculation device configured to calculate an offset for the magnetism detection data;
an offset correction device configured to correct the offset for the magnetism detection data; and
an azimuth calculation device configured to generate azimuth data from corrected magnetism detection data,
wherein the offset calculation device is configured to perform, as offset calculation processing for processing the three-axis or two-axis magnetism detection data sequentially acquired as data points in a three-axis or two-axis coordinate system, the following operations sequentially:
translate N data points (where N≥2) evenly such that one reference data point arbitrarily selected from the N data points coincides with an origin and translating also (N−1) data points other than the reference data point by a same amount of translation as the reference data point, thereby to derive (N−1) virtual data points except for the reference data point,
calculate a virtual offset point that minimizes a sum of distances from a curved surface passing through the origin to the (N−1) virtual data points respectively, and
calculate offset values for the magnetism detection data by translating the virtual offset point inversely to a previous translation,
wherein for the (N−1) virtual data points are represented by (Hxi′, Hyi′, Hzi′) (where i=1 to N−1), and the virtual offset point represented by (Hx 0 ′, Hy 0 ′, Hz 0 ′), the offset calculation device is configured to calculate the virtual offset point such as to minimize a function H 1 , where
H 1=Σ i ( Hxi′ 2 +Hyi′ 2 +Hzi′ 2 −2 Hxi′·Hx 0′−2 Hyi′·Hy 0′−2 Hzi′·Hz 0′) 2 .
2. The azimuth sensor of claim 1 , wherein the offset calculation device is configured to:
constantly search, by referring to offset-corrected magnetism detection data, for a plurality of maximum and minimum data points corresponding to maximum and minimum values for respective axes and,
when all differences between the maximum and minimum values for respective axes are equal to or larger than respective threshold values, execute a sequence of offset calculation processing again to update the offset-corrected magnetism detection data.
3. The azimuth sensor of claim 2 , wherein the N data points include the plurality of maximum and minimum data points.
4. The azimuth sensor of claim 3 , wherein the reference data point is an arbitrary point different from any of the plurality of maximum and minimum data points.
5. The azimuth sensor of claim 3 , wherein the reference data point is one of the plurality of maximum and minimum data points.
6. An electronic appliance, comprising the azimuth sensor of claim 1 as an electronic compass for detecting a direction in which a user faces.
7. An azimuth sensor comprising:
a magnetism detection device configured to generate three-axis or two-axis magnetism detection data;
an offset calculation device configured to calculate an offset for the magnetism detection data;
an offset correction device configured to correct the offset for the magnetism detection data; and
an azimuth calculation device configured to generate azimuth data from corrected magnetism detection data,
wherein the offset calculation device is configured to perform, as offset calculation processing for processing the three-axis or two-axis magnetism detection data sequentially acquired as data points in a three-axis or two-axis coordinate system, the following operations sequentially:
translate N data points (where N≥2) evenly such that one reference data point arbitrarily selected from the N data points coincides with an origin and translating also (N−1) data points other than the reference data point by a same amount of translation as the reference data point, thereby to derive (N−1) virtual data points except for the reference data point,
calculate a virtual offset point that minimizes a sum of distances from a curved line passing through the origin to the (N−1) virtual data points respectively, and
calculate offset values for the magnetism detection data by translating the virtual offset point inversely to a previous translation,
wherein for the (N−1) virtual data points represented by (Hxi′, Hyi′) (where i=1 to N−1), and the virtual offset point represented by (Hx 0 ′, Hy 0 ′), the offset calculation device is configured to calculate the virtual offset point such as to minimize a function H 2 , where
H 2=Σ i ( Hxi′ 2 +Hyi′ 2 −2 Hxi′·Hx 0′−2 Hyi′·Hy 0′) 2 .
8. The azimuth sensor of claim 7 , wherein the offset calculation device is configured to:
constantly search, by referring to offset-corrected magnetism detection data, for a plurality of maximum and minimum data points corresponding to maximum and minimum values for respective axes and,
when all differences between the maximum and minimum values for respective axes are equal to or larger than respective threshold values, execute a sequence of offset calculation processing again to update the offset-corrected magnetism detection data.
9. The azimuth sensor of claim 8 , wherein the N data points include the plurality of maximum and minimum data points.
10. The azimuth sensor of claim 9 , wherein the reference data point is an arbitrary point different from any of the plurality of maximum and minimum data points.
11. The azimuth sensor of claim 9 , wherein the reference data point is one of the plurality of maximum and minimum data points.
12. An electronic appliance, comprising the azimuth sensor of claim 7 as an electronic compass for detecting a direction in which a user faces.