ELECTRONIC COMPASS CALIBRATION BASED ON VISUAL CODE

• US 20170199034A1
• Filed: 03/29/2017
• Published: 07/13/2017
• Est. Priority Date: 08/10/2011
• Status: Active Grant

• Current Assignee: Texas Instruments, Inc.
• Original Assignee: Texas Instruments, Inc.
• Inventors: Waters, Deric Wayne, Pande, Tarkesh
• Granted Patent: US 9,903,717 B2
• Time in Patent Office: Days
• CPC Class Codes: G01C 17/02 Magnetic compasses
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses
• CPC Class Codes: G01C 5/06 by using barometric means
• CPC Class Codes: G01P 15/00 Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
• CPC Class Codes: G06F 16/9554 by using bar codes
• CPC Class Codes: G06K 19/06037 multi-dimensional coding
• CPC Class Codes: G06K 7/10792 Special measures in relation to the object to be scanned
• CPC Class Codes: G06K 7/1417 2D bar codes

Abstract

In a disclosed embodiment, a system includes a digital imaging device, an electronic compass (e-compass), and a processor coupled to the digital imaging device and the e-compass. The processor is operable to execute instructions that cause the image device to scan a visual code, read a yaw angle from the visual code, cause the e-compass to obtain magnetic field measurements, estimate a yaw angle based on the magnetic field measurements, compare the yaw angle read from the visual code and the estimated yaw angle to determine a quality factor; and determine whether the e-compass is calibrated based at least partially upon the quality factor.

Claims

1. A system comprising:

a digital imaging device;

an electronic compass (e-compass); and

a processor coupled to the digital imaging device and the e-compass, wherein the processor executes instructions to;

cause the image device to scan a visual code;

read a yaw angle from the visual code;

cause the e-compass to obtain magnetic field measurements;

estimate a yaw angle based on the magnetic field measurements;

compare the yaw angle read from the visual code and the estimated yaw angle to determine a quality factor; and

determine whether the e-compass is calibrated based at least partially upon the quality factor.

2. The system of claim 1, wherein the processor executes instructions to estimate a magnetic field based upon the magnetic field measurements, and the estimated yaw angle is determined based upon the estimated magnetic field.

3. The system of claim 2, wherein the processor executes instructions to determine scale factors and biases based upon the magnetic field measurements, and wherein the estimated magnetic field is further based upon the scale factors and biases.

4. The system of claim 2, comprising an accelerometer, wherein the processor executes instructions to determine pitch values and roll values based upon accelerometer measurements.

5. The system of claim 4, wherein the processor executes instructions to detilt the estimated magnetic field based upon the pitch values and the roll values to obtain a detilted estimated magnetic field.

6. The system of claim 5, wherein the estimated yaw angle is determined based on the detilted estimated magnetic field.

7. The system of claim 6, wherein the estimated yaw angle is determined based on the detilted estimated magnetic field by computing an arctangent of the ratio of one coordinate component of the detilted estimated magnetic field to another coordinate component of the detilted estimated magnetic field.

8. The system of claim 6, wherein the processor executes instructions determine a residual rotation angle based on the detilted estimated magnetic field.

9. The system of claim 8, wherein the residual rotation angle is determined by computing an arctangent of a ratio of the square root of the sum of the squares of first and second coordinate components of the detilted estimated magnetic field to a third coordinate component of the detilted estimated magnetic field.

10. The system of claim 9, wherein the quality factor is determined as the square root of the sum of the square of the absolute difference between the yaw angle read from the visual code and the estimated yaw angle and the square of the residual rotation angle, and wherein the processor executes instructions that compare the quality factor to a threshold to determine whether the e-compass is calibrated.

11. The system of claim 1, wherein the quality factor is determined as an absolute value of the difference between the yaw angle read from the visual code and the estimated yaw angle, and wherein the processor executes instructions that compare the quality factor to a threshold to determine whether the e-compass is calibrated.

12. The system of claim 1, wherein the visual code encodes a value indicative of magnetic declination, and the processor executes instructions to read the value of magnetic declination from the visual code and adjust a calibration of the e-compass based on the value of the magnetic declination.

13. The system of claim 1, wherein the system is a mobile telephone.

14. The system of claim 1, wherein the visual code is a QR code.

15. A system comprising:

an imaging device;

an electronic compass (e-compass); and

a processor coupled to the imaging device and the e-compass, wherein the processor causes the imaging device to scan a visual code, read a yaw angle from the visual code, and compute an estimate of a yaw angle based on magnetic field measurements taken using the e-compass and scale factors and biases determined from the magnetic field measurements, wherein the processor computes a quality factor based on the yaw angle read from the visual code and the estimated yaw angle.

16. The system of claim 15, wherein the processor determines an estimated magnetic field based on the magnetic field measurements, the scale factors, and the biases.

17. The system of claim 16, comprising an accelerometer, wherein the processor determines pitch and roll values based on accelerometer measurements and detilts the estimated magnetic field based on the pitch and roll values to obtain a detilted estimated magnetic field, wherein the estimated yaw angle is determined based on the detilted estimated magnetic field.

18. The system of claim 17, wherein, when the processor determines the e-compass is not calibrated based on the quality factor, processor re-computes the quality factor based on different scale factors and different biases.

19. A system comprising:

a digital imaging device;

an electronic compass (e-compass); and

a processor coupled to the digital imaging device and the e-compass, wherein the processor executes instructions to;

cause the image device to scan a visual code at a location;

read from the visual code a yaw angle and true magnetic field measurements correspond to the location;

obtain magnetic field measurements using the e-compass;

estimate a yaw angle based on the magnetic field measurements and the true magnetic field measurements read from the visual code;

compare the yaw angle read from the visual code and the estimated yaw angle to determine a quality factor; and

determine whether the e-compass is calibrated based at least partially upon the quality factor.

20. The system of claim 19, comprising an accelerometer that determines pitch and roll values, wherein the estimated yaw angle is determined based on an estimated magnetic field, the estimated magnetic field being determined based on the magnetic field measurements, the true magnetic field measurements read from the visual code, and the pitch and roll values.