Method and apparatus for fast magnetometer calibration

• US 10,337,884 B2
• Filed: 03/05/2014
• Issued: 07/02/2019
• Est. Priority Date: 03/05/2013
• Status: Active Grant

• Current Assignee: Trusted Positioning Inc. (TDK Corporation)
• Original Assignee: Invensense Incorporated (TDK Corporation)
• Inventors: Wahdan, Ahmed, Georgy, Jacques, Abdelfatah, Walid, Noureldin, Aboelmagd
• Primary Examiner(s): Natalini, Jeff W
• Assistant Examiner(s): Yeninas, Steven L
• Application Number:
  US14/764,470
• Publication Number:
  US 20150354980A1
• Time in Patent Office: 1,945 Days
• Field of Search: 324202, 702 92, 702141, 702150, 702151, 702153, 702 93, 702152, 702 15, 33356
• CPC Class Codes: G01C 17/02 Magnetic compasses
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38

Abstract

A method and apparatus for fast magnetometer calibration with little space coverage is described herein. The present method and apparatus is capable of performing both 2-dimensional (2D) and 3-dimensional (3D) calibration for a magnetometer (magnetic sensor) and calculating calibration parameters. The present method and apparatus does not need the user to be involved in the calibration process and there are no required specific movements that the user should perform. The present method and apparatus performs magnetometer calibration in 2D or 3D depending on the natural device movements whatever the application that the magnetometer is used in.

Claims

1. A method for fast calibration of a magnetometer from natural motion with little space coverage, the method comprising the steps of:

a) obtaining earth magnetic field information in a region where the magnetometer is located, the magnetic field information to be used as reference values;

b) collecting magnetometer readings; and

c) providing at least one processor configured to;

i) obtain an absolute heading from a source of absolute navigational information that is different from the magnetometer, the absolute heading to be used as a second reference; and

ii) make a determination of sufficient space coverage using at least the absolute heading, wherein the determination of sufficient space coverage comprises at least angular separation values in a heading domain; and

d) based at least in part on the determination of sufficient space coverage made by the at least one processor, calibrating the magnetometer by calculating calibration parameters when the sufficient space coverage is available, wherein the calculation of calibration parameters comprises calculating error parameters in the magnetometer readings using a relationship between at least the earth magnetic field information, the magnetometer readings, the absolute heading from the source of absolute navigational information that is different from the magnetometer, and the error parameters in the magnetometer readings.

2. The method of claim 1, wherein the method is for performing 2-dimensional magnetometer calibration, wherein the earth magnetic field information is horizontal earth magnetic field information and wherein the 2-dimensional calibration uses a relationship between the horizontal earth magnetic field information, the magnetometer readings, the absolute heading, and the calibration parameters.

3. The method of claim 1, wherein the method is for performing 3-dimensional magnetometer calibration utilizing 2-dimensional calibration and different sectors covering pitch and roll angles, wherein each sector comprises a range of at least one of pitch and roll, wherein the earth magnetic field information is horizontal earth magnetic field information;

wherein the method further comprises obtaining pitch and roll angles;

wherein the method further comprises using the pitch and roll angles to level the magnetometer readings;

wherein the method further comprises using the pitch and roll angles to determine a current sector;

wherein determining sufficient space coverage for the current sector uses the heading information; and

wherein the 2-dimensional calibration for the current sector uses a relationship between the horizontal earth magnetic field information, the levelled magnetometer readings, the absolute heading, and the calibration parameters.

4. The method of claim 1, wherein the method is for performing 3-dimensional magnetometer calibration utilizing the heading information from a source different from the magnetometer;

wherein the method further comprises obtaining pitch and roll angles;

wherein determining sufficient space coverage further uses one or both of the pitch and roll angles; and

wherein the 3-dimensional calibration uses a relationship between the earth magnetic field information, the magnetometer readings, the pitch and roll angles, the absolute heading, and the calibration parameters.

5. The method of claim 1, wherein the method is for performing 3-dimensional magnetometer calibration utilizing gravity acceleration, wherein the method further comprises obtaining gravity acceleration;

wherein the method further comprises obtaining pitch and roll angles;

wherein determining sufficient space coverage uses the pitch and roll angles; and

wherein the 3-dimensional calibration uses a relationship between the earth magnetic field information, the magnetometer readings, the pitch and roll angles, the gravity acceleration, and the calibration parameters.

6. The method of claim 1, wherein the method is for performing 3-dimensional magnetometer calibration;

and wherein the method utilizes any one or any combination of the following;

(i) 2-dimensional calibration and use of different sectors covering pitch and roll angles, wherein each sector comprises a range of at least one of pitch and roll;

(ii) 3-dimensional calibration using the absolute heading from the source of absolute navigational information that is different from the magnetometer;

or

(iii) 3-dimensional calibration using gravity acceleration.

7. The method of any one of claim 1, 2, 3, 4, 5, or 6, wherein the method further comprises any one or any combination of the following:

(i) conducting quality checks to determine if the calibration parameters are valid;

(ii) conducting a post-calibration quality check to determine if the calibration parameters are valid;

or

(iii) conducting a periodic quality check that is called periodically starting after the calibration is done to check whether the calibration parameters are valid.

10. The method of claim 7, wherein the method further comprises storing the calibration parameters.

11. The method of any one of claim 1, 2, 3, 4, 5 or 6, wherein the method further comprises storing the calibration parameters.

8. The method of 7, wherein the method further comprises shelving the calibration parameters for future use.

9. The method of claim 8, wherein the shelving of the calibration parameters happens even if quality checks determine that the calibration parameters are not valid.

12. A device comprising:

a. a magnetometer; and

b. a processor, coupled to receive readings from the magnetometer, and operative to perform magnetometer calibration from natural motion with little space coverage, wherein the processor is operative to;

i) obtain earth magnetic field information in a region where the magnetometer is located, the magnetic field information to be used as reference values;

ii) collect magnetometer readings;

iii) obtain an absolute heading from a source of absolute navigational information that is different from the magnetometer, the absolute heading to be used as a second reference;

iv) make a determination of sufficient space coverage using at least the absolute heading, wherein the determination of sufficient space coverage comprises at least angular separation values in a heading domain; and

v) based at least in part on the determination of sufficient space coverage, calibrate the magnetometer by calculating calibration parameters when the sufficient space coverage is available, wherein the calculation of calibration parameters comprises calculating error parameters in the magnetometer readings using a relationship between at least the earth magnetic field information, the magnetometer readings, the absolute heading from the source of absolute navigational information that is different from the magnetometer, and the error parameters in the magnetometer readings.

13. The device of claim 12, wherein the processor is operative to perform 2-dimensional magnetometer calibration;

wherein the earth magnetic field information is horizontal earth magnetic field information; and

wherein the 2-dimensional calibration uses a relationship between the horizontal earth magnetic field information, the magnetometer readings, the absolute heading, and the calibration parameters.

14. The device of any one of claim 12 or 13, wherein the magnetometer is a two-axial magnetometer.

15. The device of claim 14, further comprising any one or any combination of:

(i) wherein the magnetometer is part of a plurality of sensors;

or

(ii) wherein the device further comprises a receiver for receiving absolute navigational information about the device from an external source.

16. The device of claim 12, wherein the processor is operative to perform 3-dimensional magnetometer calibration utilizing 2-dimensional calibration and different sectors covering pitch and roll angles, wherein each sector comprises a range of at least one of pitch and roll;

wherein the earth magnetic field information is horizontal earth magnetic field information;

wherein the processor is further operative to obtain pitch and roll angles;

wherein the processor is further operative to use the pitch and roll angles to level the magnetometer readings;

wherein the processor is further operative to use the pitch and roll angles to determine the current sector;

wherein the determination of sufficient space coverage for the current sector uses the heading information, and wherein the 2-dimensional calibration for the current sector uses a relationship between the horizontal earth magnetic field information, the levelled magnetometer readings, the absolute heading, and the calibration parameters.

17. The device of claim 12, wherein the processor is operative to perform 3-dimensional magnetometer calibration utilizing the heading information from a source different from the magnetometer;

wherein the processor is further operative to obtain pitch and roll angles;

wherein the determination of sufficient space coverage further uses one or both of the pitch and roll angles, and wherein the 3-dimensional calibration uses a relationship between the earth magnetic field information, the magnetometer readings, the pitch and roll angles, the absolute heading, and the calibration parameters.

18. The device of claim 12, wherein the processor is operative to perform 3-dimensional magnetometer calibration utilizing gravity acceleration;

wherein the processor is further operative obtain gravity acceleration;

wherein the processor is further operative to obtain pitch and roll angles;

wherein the determination of sufficient space coverage further uses the pitch and roll angles, and wherein the 3-dimensional calibration uses a relationship between the earth magnetic field information, the magnetometer readings, the pitch and roll angles, the gravity acceleration, and the calibration parameters.

19. The device of claim 12, wherein the processor is operative to perform 3-dimensional magnetometer calibration;

and wherein the processor is operative to utilize any one or any combination of the following;

(i) 2-dimensional calibration use of different sectors covering pitch and roll angles wherein each sector comprises a range of at least one of pitch and roll;

(ii) 3-dimensional calibration using the absolute heading from the source of absolute navigational information that is different from the magnetometer;

or

(iii) 3-dimensional calibration using gravity acceleration.

20. The device of any one of claim 12, 13, 16, 17, 18 or 19, wherein the magnetometer is a tri-axial magnetometer.

21. The device of claim 20, further comprising any one or any combination of:

(i) wherein the magnetometer is part of a plurality of sensors;

or

(ii) wherein the device further comprises a receiver for receiving absolute navigational information about the device from an external source.

22. The device of any one of claim 12, 13, 16, 17, 18 or 19, further comprising any one or any combination of:

(i) wherein the magnetometer is part of a plurality of sensors;

or

(ii) wherein the device further comprises a receiver for receiving absolute navigational information about the device from an external source.