Method of determining the location of a navigational magnetic field sensor in a vehicle

• US 4,782,453 A
• Filed: 08/20/1986
• Issued: 11/01/1988
• Est. Priority Date: 09/27/1985
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Bauer, Harald, Helldorfer, Reinhard
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): Black, Thomas G.
• Application Number:
  US06/898,376
• Time in Patent Office: 804 Days
• Field of Search: 364/457, 364/559, 364/571, 33/351, 33/352, 33/355 R, 33/356, 33/357, 33/358
• US Class Current: 701/200
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses

Abstract

To determine the optimal location for a magnetic field sensor in a navigational system in a vehicle, the field sensor is preliminarily and releasably secured at a first location in the vehicle, and then the vehicle is rotated by 360°, for example by moving it in a circular course. An evaluation circuit is connected to the field sensor which determines the maximum or minimum value of the entire field vector (H_x, H_y). The level of the disturbance field (Hs_x, Hs_y) is determined by carrying out the calculation by adding half of the respective maximum and minimum values in the respective vectorial directions. The steps are then repeated with a different location of the sensor and, when a minimum disturbance field is determined, the sensor can be secured to the vehicle. If the vehicle contains electrical equipment or appliances generating electromagnetic fields, for example electric motors, rear window defroster windings or the like, the testing steps should be repeated with the appliance energized so that any stray field generated thereby will not disturb the field sensor. Preferably, the disturbance field should be not over half of the saturation field of the sensor and, most desirably, should not be over half of geomagnetic field of about 16 A/m.

Claims

1. Method permitting relatively unskilled installers to install in a vehicle, a navigational magnetic field sensor (11) in a location where saturation of said sensor and consequent erroneous navigation indications are avoided,

in which the entire magnetic field to which the field sensor is subjected is composed of the geomagnetic field and, when present, a stray or disturbance field resulting from at least one of permanent magnetic characteristics of said vehicle and transient magnetic fields emanating from energized equipment in said vehicle,

the magnetic field sensor is responsive to the entire magnetic field permeating the sensor,

navigation of the vehicle is guided by reference to the geomagnetic field forming at least a component of the entire field,

a vector diagram of a measured magnetic field vector with respect to axes (x, y) of said sensor, upon rotation together of said vehicle and sensor, traces out and defines a locus curve (O) which has a center point (M), and

in which the disturbance field causes a shift of the center point (M) of the locus curve from a null position in an orthogonal vectorial system, which shift is determined by the disturbance field present at the location of the magnetic field sensor,

said method comprising, in accordance with the invention, the steps of determining field strength values (Hx_max, Hy_max) which represent saturation of said sensor along each of its respective axes (x,y) and, iteratively,

(a) securing the field sensor (11) at a new location in the vehicle;

(b) moving the vehicle through 360°

;

(c) continuously measuring, during movement of the vehicle, field strength values and determining, in an evaluation circuit (10,

     13) coupled to the field sensor (11), which of said measured values represent the maximum and minimum value, along each axis, of the entire field vector (Hg_x, Hg_y) encountered during said 360°

movement; and

(d) determining the magnitude, along each axis, of the disturbance field (Hs_x, Hs_y) at said new location;

at least until the field strength of the disturbance field (Hs) is not greater than half the saturation field strength (Hx_max, Hy_max) of the magnetic field sensor (11).

2. The method of claim 1, including repeating the steps (a)-(d) until the level of the stray or disturbance field (Hs) at a location is equal to or less than the earth magnetic field of about 16 A/m.

3. The mode of claim 1, including the steps of

providing the evaluation circuit in the form of a computer (100) and wherein

said disturbance field determining step further comprises running a program in said computer which calculates said disturbance field magnitude and outputs the calculated value on a display (13).

4. The method of claim 3, wherein, during turning of the vehicle by 360°

, the maximum and minimum value (Hx, Hy) of the entire field (Hg) is determined and stored; and

further including the step of calculating the level of the disturbance field (Hs) and displaying the disturbance field.

5. The method of claim 1, wherein the step (d) of determining the level of the disturbance field (Hs) comprises calculating the level of the disturbance field from the maximum and minimum value (Hx, Hy) of the entire field vector with respect to at least one of:

the X axis; and

the Y axis of a vectorial diagram.

6. The method of claim 1, wherein the vehicle includes electrical appliances generating magnetic fields;

and wherein,

after a minimum level of disturbance field has been determined, at least one of the electrical appliances is energized, and steps (a)-(d) are repeated until a sensor location in said vehicle is found where said disturbance field is minimized while said at least one appliance remains energized.