Process for establishing the driving direction of a vehicle with an electronic compass

• US 4,729,172 A
• Filed: 11/07/1985
• Issued: 03/08/1988
• Est. Priority Date: 06/16/1984
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Bauer, Harald, Alberter, Gunther, Hettich, Gerhard
• Primary Examiner(s): HAROIAN, HARRY
• Application Number:
  US06/802,011
• Time in Patent Office: 852 Days
• Field of Search: 33/356, 33/357, 33/361
• US Class Current: 33/356
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses

Abstract

In a process for establishing the driving direction of a vehicle by an electronic compass fixedly mounted in the vehicle and which is provided with a magnetometer having a computerized evaluation circuit the local curve (O) of the earth field (He) is determined from five measuring points (M1 . . . M5) which are established by turning the vehicle and corresponding signals are stored. The parameters for the center point displacement (Hs), the shape (ellipse) and the turning (angle α) of the local curve (O) in the vector diagram (x,y) are calculated by the computer by means of an algorithm with five unknowns for the five measuring points and thereafter the direction of the earth field (He) is computed. Subsequently, the vehicle is oriented to a predetermined cardinal direction and a correction angle is determined from the difference of angles between the cardinal and north directions and the earth'"'"'s magnetic field direction measured by the compass. In the subsequent measurements the correcting angle is then taken into consideration when establishing the driving direction (φ) from the local curve (O).

Claims

1. Process for determining the driving direction of a motor vehicle including an electronic compass provided with a fixedly mounted magnetometer, said magnetometer having a plurality of probes arranged along mutually perpendicular axes to define a vector diagram and generating electrical signals depending on magnitude and direction of magnetic field present at said magnetometer, an evaluation circuit including a computer and storage means, said signals being applied to said evaluation circuit to determine the direction and magnitude of an interference magnetic field, the earth'"'"'s magnetic field and the driving direction of the vehicle, the process comprising the steps of at least partially turning the vehicle, applying to said evaluating circuit the signals pertaining to at least five measuring points measured during the turning and storing said signals in the storing means;

processing in the computer the stored signals according to an algorithm having at least five unknowns to compute the center point displacement, the shape and the turning of the local curve of the earth'"'"'s magnetic field in the vector diagram;

aligning the vehicle with a predetermined cardinal direction (east) and subtracting the angle φ

_o between the cardinal and the north directions from the angle φ

'"'"' of the earth'"'"'s magnetic field indicated by the electronic compass to produce a correction angle Δ

φ

;

storing the correction angle in the storage means; and

subtracting or adding in the computer said stored correction angle from or to a driving direction computed from measuring signals produced during subsequent measurements by said magnetometer.

2. Process in accordance with claim 1 wherein further measuring points (Mx) in the vector diagram are stored by the evaluation circuit during the driving and are processed by the computer for checking the correcting of the established parameters of the local curve.

3. Process in accordance with claim 2, wherein the changes of the driving direction are picked up by the evaluation circuit by measuring the magnetic field, and a further measuring point (Mx) in the vector diagram is stored when a predetermined value of the driving direction change is exceeded.

4. Process in accordance with claim 1 wherein the first five measuring points in the vector diagram are picked up and stored during the turning of the vehicle by at least 90°

.

5. Process in accordance with claim 1 wherein the first five measuring points in the vector diagram are picked up and stored during the turning of the vehicle by at least 90°

.

6. Process in accordance with claim 5, wherein parameters of one ellipse are established by the computer from the measuring points of the local curve in the vector diagram, whose axes are turned relative to coordinates of the vector diagram and which are displaced by the vector of the stationary interference field from the origin of the coordinates of the vector diagram (x, y).

7. Process in accordance with claim 1, wherein the magnetometer is provided with three probes (x, y, z) of which one is mounted in the driving direction, a second one transverse with respect to the driving direction and a third one vertically with respect to the driving direction.

8. Process in accordance with claim 7, wherein the spatial position, shape and turning of the local curve of the magnetic field which is active on the magnetometer is measured in a spatial vector diagram by at lest nine measuring points and the corresponding signals are picked up and stored by the evaluation circuit.