Method and apparatus for calculating azimuth
First Claim
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1. An apparatus comprising:
- a magnetic sensor configured to sense a magnetic field and convert the sensed magnetic field into a voltage;
an amplifier configured to amplify the voltage;
an analog-to-digital converter configured to convert the amplified voltage into voltage data; and
a processor configured to execute instructions stored in a memory, thereby configuring the processor to;
separate the voltage data into 3-axis magnetic field components in X, Y and Z axes to generate separated voltage data;
remove noise components of the separated voltage data by creating a median value of the separated voltage data and filtering the separated voltage data by selecting midmost voltage data;
apply a previously calculated offset to the filtered separated voltage data;
determine, based on the application of the previously calculated offset, whether the filtered separated voltage data correspond to a geomagnetic field;
selectively, based on a result of the determining of whether the filtered separated voltage data correspond to the geomagnetic field,select offset data items from the filtered separated voltage data,subtract a difference between the filtered separated voltage data and previously measured voltage data from a previous offset reference point,set a resultant value as a new offset reference point, in response to the filtered separated voltage data being determined not to correspond to the geomagnetic field and the previously measured voltage data being determined to correspond to the geomagnetic field, andcalculate an offset by a geometrical method that uses the selected offset data items and the new offset reference point; and
determine a location or directional information of the apparatus based on the voltage data for the sensed magnetic field and selectively one of the calculated offset and the previously calculated offset, with increased location or directional determination speed and/or accuracy with respect to a presence of an abnormal magnetic field.
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Abstract
A method and an apparatus for calculating azimuth, and a method and an apparatus for determining an offset from geomagnetic field are provided. An apparatus for calculating azimuth includes a magnetic sensor configured to sense magnetic field, a data selecting unit configured to select offset data items, an offset calculating unit configured to calculate an offset by a geometrical method that uses the selected offset data items, and an azimuth calculating unit configured to calculate an azimuth by using the calculated offset.
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Citations
20 Claims
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1. An apparatus comprising:
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a magnetic sensor configured to sense a magnetic field and convert the sensed magnetic field into a voltage; an amplifier configured to amplify the voltage; an analog-to-digital converter configured to convert the amplified voltage into voltage data; and a processor configured to execute instructions stored in a memory, thereby configuring the processor to; separate the voltage data into 3-axis magnetic field components in X, Y and Z axes to generate separated voltage data; remove noise components of the separated voltage data by creating a median value of the separated voltage data and filtering the separated voltage data by selecting midmost voltage data; apply a previously calculated offset to the filtered separated voltage data; determine, based on the application of the previously calculated offset, whether the filtered separated voltage data correspond to a geomagnetic field; selectively, based on a result of the determining of whether the filtered separated voltage data correspond to the geomagnetic field, select offset data items from the filtered separated voltage data, subtract a difference between the filtered separated voltage data and previously measured voltage data from a previous offset reference point, set a resultant value as a new offset reference point, in response to the filtered separated voltage data being determined not to correspond to the geomagnetic field and the previously measured voltage data being determined to correspond to the geomagnetic field, and calculate an offset by a geometrical method that uses the selected offset data items and the new offset reference point; and determine a location or directional information of the apparatus based on the voltage data for the sensed magnetic field and selectively one of the calculated offset and the previously calculated offset, with increased location or directional determination speed and/or accuracy with respect to a presence of an abnormal magnetic field. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A processor-implemented method of determining a location or directional information of an apparatus comprising a magnetic sensor, an amplifier, an analog-to-digital converter, and a processor, the method comprising:
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sensing, using the magnetic sensor, a magnetic field and converting the sensed magnetic field into a voltage; amplifying, using the amplifier, the voltage; converting, using the analog-to-digital converter, the amplified voltage into voltage data; controlling, through execution by a processor of instructions stored in a memory, the processor to; separate the voltage data into 3-axis magnetic field components in X, Y and Z axes to generate separated voltage data; remove noise components of the separated voltage data by creating a median value of the separated voltage data and filtering the separated voltage data by selecting midmost voltage data; apply a previously calculated offset to the filtered separated voltage data; determine, based on the application of the previously calculated offset, whether the filtered separated voltage data correspond to a geomagnetic field; selectively, based on a result of the determining of whether the filtered separated voltage data correspond to the geomagnetic field, select offset data from the filtered separated voltage data which do not correspond to the geomagnetic field, subtract a difference between the filtered separated voltage data and previously measured voltage data from the previously calculated offset and setting a resultant value as a new offset reference point, in response to the previously measured voltage data being determined to correspond to the geomagnetic field, and calculate an offset by using the selected offset data and the new offset reference point; and determine a location or directional information of the apparatus based on the voltage data for the sensed magnetic field and selectively one of the calculated offset, another calculated offset, and the previously calculated offset, with increased location or directional determination speed and/or accuracy with respect to a presence of an abnormal magnetic field, wherein, when the filtered separated voltage data does not correspond to the geomagnetic field, the location or directional information of the apparatus is determined based on the voltage data for the sensed magnetic field and the calculated offset in response to a determination that the calculated offset is within a set range of a reference point, and determined based on the voltage data for the sensed magnetic field and the other calculated offset, calculated by a geometrical method that uses the previously calculated offset, in response to a determination that the calculated offset is outside the set range of the reference point. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A processor-implemented method of determining a location or directional information of an apparatus comprising a magnetic sensor, an amplifier, an analog-to-digital converter, and a processor, the method comprising:
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sensing and measuring, using the magnetic sensor, a magnetic field and converting the sensed and measured magnetic field into a voltage; amplifying, using the amplifier, the voltage; converting, using the analog-to-digital converter, the amplified voltage into voltage data; and controlling, through execution by a processor of instructions stored in a memory, the processor to; separate the voltage data into 3-axis magnetic field components in X, Y and Z axes to generate separated voltage data; remove noise components of the separated voltage data by creating a median value of the separated voltage data, and filtering the separated voltage data by selecting midmost voltage data; apply a previously calculated offset to the filtered separated voltage data; determine, based on the application of the previously calculated offset, whether the filtered separated voltage data correspond to a geomagnetic field; selectively, based on a result of the determining of whether the filtered separated voltage data correspond to the geomagnetic field, select offset data items for calculating an offset from the filtered separated voltage data, select a median value or a value in a midmost position of data in a collected data group, arranged in order of magnitude to form a measured data group, subtract a difference between the filtered separated voltage data and previously measured voltage data from the previously calculated offset and setting a resultant value as a new offset reference point, in response to the filtered separated voltage data being determined not to correspond to the geomagnetic field and the previously measured voltage data being determined to correspond to the geomagnetic field, and calculate the offset by applying a geometric method to the selected offset data item and the new offset reference point; and determine a location or directional information of the apparatus based on the voltage data for the sensed magnetic field and selectively one of the calculated offset and the previously calculated offset, with increased location or directional determination speed and/or accuracy with respect to a presence of an abnormal magnetic field. - View Dependent Claims (18, 19, 20)
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Specification