Method and apparatus for calibrating an electronic compass to account for alignment errors in the compass windings

• US 5,287,295 A
• Filed: 05/30/1991
• Issued: 02/15/1994
• Est. Priority Date: 05/30/1991
• Status: Expired due to Term

• Current Assignee: Motorola Solutions, Inc.
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Kozikaro, Elisha M., Ives, Martin D.
• Primary Examiner(s): Harvey, Jack B.
• Assistant Examiner(s): Wachsman, Hal D.
• Application Number:
  US07/707,716
• Time in Patent Office: 992 Days
• Field of Search: 364/571.01, 364/457, 364/449, 364/560, 364/571.02, 364/571.05, 364/559, 33/356, 33/361, 33/357, 33/358, 33/359, 33/360, 33/355 R, 73/1 E, 324/146, 324/151 A, 324/151 R, 324/202, 324/245, 324/247
• US Class Current: 702/92
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses

Abstract

An electronic compass (10) having at least two sense windings (11, 12) is mounted in a vehicle. The outputs (x(h), y(h)) of the windings are measured for a number of compass directions (headings). From this data an error difference angle (φ), from a nominal angle, which actually exists between the output windings is calculated. Preferably a look-up table (21, 39) is created relating actual compass heading (h) to measured sense winding outputs by utilizing the calculated error difference angle (φ). This table is then utilized for calculating actual compass heading based on actual measured sense winding outputs. The calculated error angle (φ) can also be used to calibrate the compass without creating a look-up table. The calibrated compass compensates for misalignment of the sense windings and provides a more accurate electronic compass without requiring creating a calibration table by orienting the compass in a very large number of exactly known directions.

Claims

1. A method for calibrating an electronic compass comprising the steps of:

providing an electronic compass having at least two sense windings disposed at a known nominal angle plus a difference angle with respect to one another;

measuring and storing, as data outputs of the sense windings;

outputs of the sense windings provided for a number of compass headings;

calculating the difference angle between the sense windings;

by using the stored winding output and heading data; and

using said calculated difference angle to relate actual compass heading to outputs of said sense windings.

2. A method according to claim 1 wherein said measuring and storing step comprises the steps of orienting the electronic compass in a known initial heading direction, measuring and storing at least one output of the sense windings provided for the known initial heading direction, and measuring and storing the outputs of the sense windings provided for a number of other compass headings.

3. A method according to claim 2 wherein said calculating step includes the steps of calculating at least one coordinate of a center and at least one radii of an ellipse formed by a locus of said stored outputs of each of said sense windings plotted against one another, and calculating said difference angle by using the calculated ellipse center and radii data and the known initial heading direction and the stored corresponding output winding data provided for the known initial heading direction.

4. A method according to claim 3 wherein said known nominal angle is 90°

.

5. A method according to claim 1 wherein said using step includes the step of creating a look-up table relating actual compass heading to the outputs of said sense windings by using said calculated difference angle.

6. A method according to claim 5 wherein said step of creating said look-up table comprises calculating and storing a ratio value z by dividing sine and cosine functions of a heading angle h and the heading angle h corrected by said calculated difference angle.

7. A method according to claim 6 wherein said look-up table correlates a range of heading values h in equal increment steps from 0°

to approximately 180°

to a plurality of corresponding ratio values z.

8. A method according to claim 7 wherein said using step includes the step of correcting said outputs of said sense windings by said calculated ellipse center data and said calculated ellipse radii data to provide corrected output data and the ratio of said corrected output data is used to create a measurement ratio z_m, and wherein actual compass heading is derived by using said look-up table to calculate the heading corresponding to the measurement ratio z_m by comparing the measurement ratio z_m with the stored ratio values z in the look-up table to determine the corresponding heading value.

9. A method according to claim 1 wherein said sense windings of said electronic compass are fixed with respect to one another and wherein said compass, prior to said measuring and storing, and calculating steps, is mounted in a vehicle whose heading direction is to be sensed.

10. A method according to claim 9 wherein said step of measuring and storing the outputs of the sense windings for a number of headings is implemented by driving said vehicle in a circle after orienting said vehicle in a known initial direction.

11. A method according to claim 3 wherein said step of calculating said center and radii of the ellipse is implemented by storing maximum and minimum values for the outputs of each of said sense windings and utilizing these maximum and minimum values to calculate at least one ellipse center coordinate and at least one ellipse radii.

12. A method for calibrating an electronic compass comprising the steps of:

(a) providing an electronic compass having x and y sense windings disposed nominally orthogonal with respect to one another;

(b) orienting the electronic compass in an initial known heading direction (h_i);

(c) measuring and storing as data at least one output of the sense windings provided for the known initial heading direction;

(d) measuring and storing, as data outputs of the sense windings, outputs of the sense windings provided for a number of other compass headings;

(e) calculating at least one coordinate of the center and at least one radii of an ellipse formed by a locus of said stored outputs of each of said sense windings plotted against one another;

(f) calculating a non-orthogonal error difference angle (φ

) between the sense windings by using the calculated center and radii data and the initial heading and initial output winding data; and

(g) creating and storing a look-up table relating actual compass heading to the outputs of sense windings by using said calculated error difference angle;

whereby said look-up table can be used for calibrating the compass to compensate for non-orthogonal alignments of the sense windings.

13. A method according to claim 12 which includes a subsequent and additional step of using said table for calculating actual compass heading based on outputs of said sense windings.

14. A method according to claim 13 wherein said step of creating said look-up table comprises calculating a ratio value z by dividing sine and cosine functions of a heading angle h and the heading angle h corrected by said non-orthogonal error difference angle (φ

).

15. A method according to claim 14 wherein said look-up table correlates a range of heading values h in equal increment steps from 0°

to approximately 180°

to a plurality of corresponding ratio values z.

16. A method according to claim 15 wherein said using step includes the step of correcting said outputs of said x and y sense windings by said calculated ellipse center and said calculated ellipse radii data to provide corrected output data and the ratio of said corrected output data is used to create a measurement ratio z_m, and wherein actual compass heading is derived by using said look-up table to calculate the heading corresponding to the measurement ratio z_m by comparing the measurement ratio z_m with the stored ratio values z in the table to determine the corresponding heading value.

17. A method according to claim 12 wherein said x and y sense windings of said compass are fixed with respect to one another and wherein said compass, prior to said measuring and calculating steps, is mounted in a vehicle whose heading direction is to be sensed.

18. A method according to claim 17 wherein said step of measuring and storing the outputs of the windings for a number of headings is implemented by driving said vehicle in a circle after orienting said vehicle in said known heading direction (h_i).

19. A method according to claim 12 wherein said step of calculating said center and radii of the ellipse is implemented by storing maximum and minimum values for the outputs of each of said sense windings x and y and utilizing these maximum and minimum values to calculate at least one ellipse center coordinate and at least one ellipse radii.

20. A calibrated electronic compass comprising:

an electronic compass having at least two sense windings disposed at a known nominal angle plus a difference angle with respect to one another;

means for measuring and storing, as data outputs of the sense windings, outputs of the sense windings provided for a number of compass headings;

means for calculating the difference angle between the sense windings by using the stored winding output and heading data; and

means for using said calculated difference angle to relate actual compass heading to outputs of said sense windings.

21. A calibrated electronic compass according to claim 20 wherein.. said measuring means comprises means for measuring and storing at least one output of the sense windings provided for a known initial heading direction of the compass, and means for measuring and storing the outputs of the sense windings provided for a number of other compass headings.

22. A calibrated electronic compass according to claim 21 wherein said calculating means includes means for calculating at least one coordinate of a center and at least one radii of an ellipse formed by a locus of said stored outputs of each said sense windings plotted against one another, and means for calculating said difference angle by using the calculated ellipse center and radii data and the initial heading and corresponding initial output winding data.

23. A calibrated electronic compass according to claim 22 wherein said known nominal angle is 90°

.

24. A calibrated compass according to claim 20 wherein said using means includes means for creating a look-up table relating actual compass heading to the outputs of said sense windings by using said calculated difference angle.

25. A calibrated compass according to claim 24 wherein said means for creating said look-up table comprises means for calculating a ratio value z by dividing sine and cosine functions of a heading angle and the same heading angle corrected by said calculated difference angle.

26. A calibrated compass according to claim 25 wherein said table correlates a range of heading values h in equal increment steps from 0°

to approximately 180°

to a plurality of corresponding ratio values z.

27. A calibrated compass according to claim 26 wherein said using means includes means for correcting said outputs of said windings by said calculated ellipse center data and said calculated ellipse radii data to provide corrected output data and said compass including means for creating a measurement ratio z_m from a ratio of said corrected output data, and means for deriving actual compass heading by using said look-up table to calculate the heading corresponding to the measurement ratio z_m by comparing the measurement ratio z_m with the stored ratio values z in the table to determine the corresponding heading value.

28. A calibrated compass according to claim 20 wherein said sense windings of said compass are fixed with respect to one and another and wherein said compass is mounted in a vehicle whose heading direction is to be sensed.

29. A calibrated compass according to claim 28 wherein said means for measuring and storing the outputs of the sense windings for a number of headings measures and stores such outputs during driving said vehicle in a circle after orienting said vehicle in a known initial direction.

30. A calibrated compass according to claim 22 wherein said means for calculating said center and radii of the ellipse stores maximum and minimum values for the outputs of each of said windings and utilizes these maximum and minimum values to calculate at least one ellipse center coordinate and at least one ellipse radii.

31. A calibrated electronic compass comprising:

(a) an electronic compass having x and y sense windings disposed nominally orthogonal with respect to one another;

(b) means for measuring and storing as data at least one output of the sense windings provided for a known initial heading direction of said electronic compass;

(c) means for measuring and storing, as data outputs of the sense windings, outputs of the sense windings provided for a number of other compass headings;

(d) means for calculating at least one coordinate of the center and at least one radii of an ellipse formed by the locus of said stored outputs of each of said sense windings plotted against each other;

(e) means for calculating a non-orthogonal error difference angle (φ

) between the windings by using the calculated center and radii data and the initial heading and initial output winding data; and

(f) means for creating and storing a look-up table relating actual compass heading to the outputs of sense windings by using said calculated error difference angle;

whereby said look-up table can be used for calibrating the electronic compass to compensate for non-orthogonal alignment of the windings.

32. A calibrated compass according to claim 31 which includes means for using said look-up table for calculating actual compass heading based on outputs of said sense windings.

33. A calibrated compass according to claim 32 wherein said means for creating said look-up table comprises means for calculating a ratio value z by dividing sine and cosine functions of a heading angle h and the heading angle h corrected by said non-orthogonal error difference angle (φ

).

34. A calibrated compass according to claim 33 wherein said look-up table correlates a range of heading values h in equal increment steps from 0°

to approximately 180°

to a plurality of corresponding ratio values z.

35. A calibrated compass according to claim 34 wherein said using means includes the means for correcting said outputs of said x and y sense windings by said calculated ellipse center and said calculated ellipse radii data to provide corrected output data, and said calibrated compass including means for creating a measurement ratio z_m by using a ratio of said corrected output data, and means for deriving actual compass heading by using said look-up table to calculate the heading corresponding to the measurement ratio z_m by comparing the measurement ratio z_m with the stored ratio values z in the look-up table to determine the corresponding stored heading value.

36. A calibrated compass according to claim 31 wherein said means for calculating said center and radii of the ellipse includes means for storing maximum and minimum values for the outputs of each of said windings x and y and utilizing these maximum and minimum values to calculate at least one ellipse center coordinate and at least one ellipse radii.