Apparatus and method for detecting azimuth and inclination angel, program for detecting the same, and portable terminal device for detecting the same

• US 20070000140A1
• Filed: 06/30/2006
• Published: 01/04/2007
• Est. Priority Date: 07/01/2005
• Status: Active Grant

• Current Assignee: Yamaha Corporation
• Original Assignee: Yamaha Corporation
• Inventors: Sato, Hideki
• Granted Patent: US 7,210,235 B2
• Time in Patent Office: Days
• US Class Current: 33/355.R
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence

Abstract

In an azimuth/inclination-angle detection apparatus, a measurement data obtaining unit obtains first and second measurement data sets g and h from acceleration and magnetic sensors, respectively. A first computation unit calculates an azimuth α0, an elevation angle β0, and a geomagnetism depression angle θ0 from the measurement data sets g and h. An averaging unit accumulates and averages the geomagnetism depression angle θ0 so as to obtain a value to be used as a geomagnetism depression angle θ. A second computation unit calculates an azimuth α and an elevation angle β from the second measurement data set h and the geomagnetism depression angle θ. When a plurality of solutions exist, they are stored as candidates (α1, β1) and (α2, β2). A selection unit selects a detection value (α, β) from the candidates (α1, β1) and (α2, β2) with reference to the above-described values α0 and β0 serving as reference values.

Claims

1. An apparatus for detecting azimuth and inclination angle of a device, the apparatus having an azimuth sensor for detecting geomagnetism components in a coordinate system fixed to the device and an acceleration sensor for detecting gravitational force components in the coordinate system fixed to the device and adapted to generate final detection values of the azimuth and the inclination angle of the device in a terrestrial coordinate system by use of the geomagnetism components and the gravitational force components, the apparatus further comprising:

first computation means for performing coordinate conversion of the geomagnetism components by use of the gravitational force components to thereby obtain the azimuth and the inclination angle to be used as reference data;

geomagnetism-depression-angle obtaining means for obtaining a geomagnetism depression angle, which is an angle formed between a horizontal plane and a direction of geomagnetism;

second computation means for solving simultaneous equations of the azimuth and the inclination angle, the simultaneous equations being obtained on the basis of the relation between the geomagnetism components in the coordinate system fixed to the device and the geomagnetism components in the terrestrial coordinate system and being specified by the geomagnetism depression angle, to thereby obtain at least one set of computed values of the azimuth and the inclination angle to be used as candidates of the azimuth and the inclination angle; and

selection means, operable when a plurality of sets of computed values are obtained, for selecting one set of the computed values among the candidates by referring to the reference data, the selected one set of computed values being used as the final detection values of the azimuth and the inclination angle.

2. An apparatus for detecting azimuth and inclination angle according to claim 1, wherein the second computation means, when only one set of the computed values is obtained by solving the simultaneous equations, outputs the one set of computed values of the azimuth and the inclination angle as the final detection values of the azimuth and the inclination angle.

3. An apparatus for detecting azimuth and inclination angle according to claim 1, wherein the selection means selects one set of the computed values containing the inclination angle which is closer to the inclination angle of the reference data than any other inclination angle(s) contained in remaining set(s) of the computed values and outputs the selected set of the computed values as the final detection values of the azimuth and the inclination angle.

4. An apparatus for detecting azimuth and inclination angle according to claim 1, wherein the geomagnetism-depression-angle obtaining means includes:

geomagnetism-depression-angle computation means for calculating a value corresponding to the geomagnetism depression angle by performing coordinate conversion of the detected geomagnetism components by use of the detected gravitational force components; and

averaging means for accumulating the value corresponding to the geomagnetism depression angle and averaging the accumulated values to store the averaged value for use as the geomagnetism depression angle.

5. An apparatus for detecting azimuth and inclination angle according to claim 4, wherein the averaging means includes:

date and time data storing means for obtaining data of date and time when the value corresponding to the geomagnetism depression angle is obtained by the geomagnetism-depression-angle computation means and for storing the obtained data of date and time together with the value corresponding to the geomagnetism depression angle into a table; and

data selecting means for selecting the stored values each corresponding to the geomagnetism depression angle in the table used for obtaining the averaged value by eliminating the stored value corresponding to the geomagnetism depression angle which was stored at the timing which is prior to the current date and time by a predetermined amount of time or more.

6. An apparatus for detecting azimuth and inclination angle according to claim 4, wherein the averaging means includes:

position data storing means for obtaining position data of the apparatus when the value corresponding to the geomagnetism depression angle is obtained by the geomagnetism-depression-angle computation means and for storing the obtained position data together with the value corresponding to the geomagnetism depression angle into a table; and

data selecting means for selecting the stored values each corresponding to the geomagnetism depression angle in the table used for obtaining the averaged value by eliminating the stored value corresponding to the geomagnetism depression angle which was stored at a position apart from the current position of the apparatus by a predetermined distance or longer.

7. An apparatus for detecting azimuth and inclination angle according to claim 1, wherein the geomagnetism-depression-angle obtaining means includes;

position data obtaining means for obtaining at least current latitude of the apparatus as current position data; and

geomagnetism-depression-angle generation means for generating the geomagnetism depression angle from the current position data.

8. An apparatus for detecting azimuth and inclination angle according to claim 1, wherein the apparatus is a portable terminal device.

9. A method of detecting azimuth and inclination angle of a device in which geomagnetism components in a coordinate system fixed to the device and gravitational force components in the coordinate system fixed to the device are detected and final detection values of the azimuth and the inclination angle of the device in a terrestrial coordinate system are generated by use of the geomagnetism components and the gravitational force components, the method comprising steps of:

performing coordinate conversion of the geomagnetism components by use of the gravitational force components to thereby compute the azimuth and the inclination angle, and storing the computed azimuth and inclination angle as reference data;

obtaining a geomagnetism depression angle, which is an angle formed between a horizontal plane and a direction of geomagnetism;

solving simultaneous equations of the azimuth and the inclination angle, the simultaneous equations being obtained on the basis of the relation between the geomagnetism components in the coordinate system fixed to the device and the geomagnetism components in the terrestrial coordinate system and being specified by the geomagnetism depression angle, to thereby obtain at least one set of computed values of the azimuth and the inclination angle to be used as candidates of the azimuth and the inclination angle; and

selecting, when a plurality of sets of computed values are obtained, one set of computed values among the candidates by referring to the reference data, the selected one set of computed values being used as the final detection values of the azimuth and the inclination angle.

10. A program for causing a computer to perform the steps of:

detecting geomagnetism components in a coordinate system fixed to a device;

detecting gravitational force components in the coordinate system fixed to the device;

performing coordinate conversion of the geomagnetism components by use of the gravitational force components to thereby compute the azimuth and the inclination angle, and storing the computed azimuth and inclination angle as reference data;

obtaining a geomagnetism depression angle, which is an angle formed between a horizontal plane and a direction of geomagnetism;

solving simultaneous equations of the azimuth and the inclination angle, the simultaneous equations being obtained on the basis of the relation between the geomagnetism components in the coordinate system fixed to the device and the geomagnetism components in the terrestrial coordinate system and being specified by the geomagnetism depression angle, to thereby obtain at least one set of computed values of the azimuth and the inclination angle to be used as candidates of the azimuth and the inclination angle; and

selecting, when a plurality of sets of computed values are obtained, one set of computed values among the candidates by referring to the reference data, the selected one set of computed values being used as final detection values of the azimuth and the inclination angle.