SENSOR MODULE, METHOD OF CORRECTION THEREFOR, AND MOBILE OBJECT INCLUDING THE SENSOR MODULE
First Claim
1. A sensor module mounted on a mobile object, comprising:
- a magnetic sensor having at least two magnetic field detecting axes and that outputs first azimuth data indicating a first direction that a reference portion in the mobile object faces based on magnetic information;
a motion sensor detecting at least one of an acceleration motion or angular motion of the mobile object and configured to output a second azimuth data indicating a second direction that the reference portion in the mobile object faces based on the acceleration motion or angular motion; and
a processing device that stores correction data to correct a magnetic information used by the magnetic sensor, and that updates that correction data in a case a difference between the first azimuth data and the second azimuth data is less than a first threshold value.
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Accused Products
Abstract
A sensor module maintaining high detection accuracy. Correction data of a detected magnetic field is updated only in a case that a fluctuation band acquired from an output signal of an acceleration sensor is less than a threshold value and a difference between an azimuth angle acquired from an output signal of a terrestrial magnetism sensor and an inclination angle acquired from an output signal of acceleration sensor is less than the threshold value. Therefore, the correction data is updated only in a case that a magnetic field at a position of a mobile object is stably detected, and an accuracy of the correction data can be maintained.
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Citations
20 Claims
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1. A sensor module mounted on a mobile object, comprising:
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a magnetic sensor having at least two magnetic field detecting axes and that outputs first azimuth data indicating a first direction that a reference portion in the mobile object faces based on magnetic information; a motion sensor detecting at least one of an acceleration motion or angular motion of the mobile object and configured to output a second azimuth data indicating a second direction that the reference portion in the mobile object faces based on the acceleration motion or angular motion; and a processing device that stores correction data to correct a magnetic information used by the magnetic sensor, and that updates that correction data in a case a difference between the first azimuth data and the second azimuth data is less than a first threshold value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 20)
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17. A correction method for correcting magnetic information for a sensor module mounted on a mobile object including a magnetic sensor including at least two magnetic field detecting axes and a motion sensor detecting at least one of an acceleration or angular motion of the mobile object, the method comprising:
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calculating a first azimuth data indicating a direction that a reference portion of the mobile object faces based on magnetic information from the magnetic sensor; calculating a second azimuth data indicating a direction that the reference portion of the mobile object faces based on information from at least a motion sensor; judging whether a difference between the first azimuth data and the second azimuth data is less than a first threshold value or not; updating a correction data for correcting magnetic data in a case the difference is less than the first threshold value; and correcting the magnetic information based on the correction data. - View Dependent Claims (18, 19)
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Specification