Calibration method for a relative heading sensor

• US 5,345,382 A
• Filed: 05/15/1992
• Issued: 09/06/1994
• Est. Priority Date: 05/15/1992
• Status: Expired due to Fees

• Current Assignee: TomTom International BV (TomTom NV)
• Original Assignee: Zexel Corporation
• Inventors: Kao, Wei-Wen
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): PARK, COLLIN
• Application Number:
  US07/883,859
• Time in Patent Office: 844 Days
• Field of Search: 364/443, 364/449, 364/450, 364/453, 364/454, 364/457, 364/571.01, 364/571.02, 364/571.03, 364/571.05, 364/424.01, 364/447, 33/355 R, 33/356, 33/357, 33/358, 33/359, 33/361, 33/362
• US Class Current: 702/104
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses

Abstract

The invention provides a direction sensor and a method of calibrating a direction sensor having a relative heading sensor and an absolute heading sensor. The method allows calibration of both the relative heading sensor and the absolute heading sensor at the same time, by taking advantage of the known angular relationship between maxima and minima on the measurement curve of the absolute heading sensor. Such maxima and minima are found by rotating the sensors through an angle of at least 360°, reading the absolute and relative heading sensor outputs at numerous points and comparing each successive output. The relative heading sensor output at the minimum is subtracted from that at the maximum, and the difference divided by the known angle to arrive at a conversion constant for the relative heading sensor. The center and radii of the measurement curve of the absolute heading sensor may be found by determining the maxima and minima of the curve in two perpendicular directions.

Claims

1. A method of calibrating a relative heading sensor in a system also having an absolute heading sensor, the method comprising the steps of:

rotating said sensors through an angle of at least 360°

;

reading said absolute heading sensor at each of a plurality of points during said rotating step;

reading said relative heading sensor at each of said points;

finding a maximum absolute heading and a minimum absolute heading in at least a first direction;

calculating a difference between a first relative heading reading at a point corresponding to said maximum absolute heading and a second relative heading reading at a point corresponding to said minimum absolute heading;

dividing said differences by 180°

to obtain a first relative heading conversion constant; and

calibrating said relative heading sensor, using said first relative heading conversion constant with a third relative heading reading from said relative heading sensor to generate a calibrated relative heading.

2. The method of claim 1 further comprising the step of monitoring said relative heading sensor to detect said angle through which said sensors are rotated.

3. The method of claim 2 wherein said absolute heading sensor comprises a geomagnetic field sensor, said geomagnetic field sensor capable of measuring a geomagnetic field in said first direction and in a second direction perpendicular to said first direction, and producing first and second output signals proportional to said geomagnetic field in said first and second directions, wherein said maximum and minimum absolute headings comprise a first maximum and first minimum in said first output signal.

4. The method of claim 3 further comprising calibrating said geomagnetic field sensor contemporaneously with calibrating said relative heading sensor, said calibrating of said geomagnetic field sensor comprising the steps of:

finding a second maximum and a second minimum in said second output signal; and

locating the center of a measurement curve of said geomagnetic field sensor relative to a predetermined origin, said measurement curve being defined by said second output signal as a function of said first output signal when the geomagnetic sensor is rotated about 360°

, said center being defined by

space="preserve" listing-type="equation">X.sub.0 =(X.sub.max +X.sub.min)/2

space="preserve" listing-type="equation">Y.sub.0 =(Y.sub.max +Y.sub.min)/2

wherein X₀ is the first output signal at the center, Y₀ is the second output signal at the center, X_max is the first maximum, X_min is the first minimum, Y_max is the second maximum and Y_min the second minimum.

5. The method according to claim 4, further comprising:

determining a first and a second radius of said measurement curve, said measurement curve being elliptical, said first and second radii being defined as

space="preserve" listing-type="equation">a=(X.sub.max -X.sub.min)/2

space="preserve" listing-type="equation">b=(Y.sub.max -Y.sub.min)/2

wherein a is the first radius and b is the second radius; and

employing said center of said measurement curve and said first and second radii with said first and second output signals to generate a calibrated absolute heading.

6. The method according to claim 5 further comprising determining an absolute heading equal to the angle between a predetermined direction and a first line connecting said center and the point (X,Y), wherein X is said first output signal and Y is said second output signal.

7. The method according to claim 1 further comprising the steps of:

finding a second maximum absolute heading and a second minimum absolute heading in a second direction;

finding a second relative heading conversion constant by calculating a second difference between a fourth relative heading reading at a point corresponding to said second maximum and a fifth relative heading reading at a point corresponding to said second minimum, said second relative heading conversion constant being said second difference divided by 180°

; and

employing said second relative heading conversion constant with said third relative heading reading from said relative heading sensor to generate said calibrated relative heading.

8. The method according to claim 7 further comprising the steps of:

averaging said first and second relative heading conversion constants to generate a final relative heading conversion constant; and

employing said final relative heading conversion constant with said third relative heading reading from said relative heading sensor to generate said calibrated relative heading.

9. The method according to claim 1 further comprising taking a reference relative heading reading from said relative heading sensor in a stationary position before said step of rotating to obtain a zero reading.

10. The method according to claim 9 further comprising subtracting said zero reading from output signals of said relative heading sensor to obtain said third relative heading reading, and applying said first relative heading conversion constant to said third relative heading reading to obtain said calibrated relative heading.

11. The method of claim 1 wherein said relative heading sensor comprises a gyroscope.

12. A method of calibrating a direction sensor, said direction sensor having a relative heading sensor and a geomagnetic sensor, said geomagnetic sensor producing a first output signal proportional to the geomagnetic field in an X-direction and a second output signal proportional to the geomagnetic field in a Y-direction, said X and Y directions being perpendicular, the method comprising the steps of:

rotating said sensors through an angle of at least 360°

;

reading said geomagnetic sensor at each of a plurality of points about said angle;

reading said relative heading sensor at each of said points;

finding a first maximum and a first minimum heading in said first output signal;

finding a second maximum and a second minimum heading in said second output signal;

calculating a first difference between a first relative heading reading at a point corresponding to said first maximum and a second relative heading reading at a point corresponding to said first minimum;

dividing said first difference by 180°

to obtain a first relative heading conversion constant;

locating the center of a measurement curve of said geomagnetic sensor relative to a predetermined origin, said measurement curve being defined by said second output signal as a function of said first output signal when the geomagnetic sensor is rotated about 360°

, said center being at the point (X₀, Y₀) wherein

space="preserve" listing-type="equation">X.sub.0 =(X.sub.max +Y.sub.min)/2

space="preserve" listing-type="equation">Y.sub.0 =(Y.sub.max +Y.sub.min)/2

and wherein X₀ is the first output signal at the center, Y₀ is the second output signal at the center, X_max is the first maximum, X_min is the first minimum, Y_max is second maximum and Y_min the second minimum;

determining a first and a second radius of said measurement curve, said first and second radii being defined as

space="preserve" listing-type="equation">a=(X.sub.max -Y.sub.min)/2

space="preserve" listing-type="equation">b=(Y.sub.max -Y.sub.min)/2

wherein a is the first radius and b is the second radius;

calibrating said relative heading sensor, using said first relative heading conversion constant with a third relative heading reading from said relative heading sensor to generate a calibrated relative heading; and

employing said center of said measurement curve and said first and second radii with said first and second output signals to generate a calibrated absolute heading.

13. The method according to claim 12 further comprising taking a reference relative heading reading from said relative heading sensor in a stationary position before said step of rotating to obtain a zero reading.

14. The method according to claim 12 further comprising:

calculating a second difference between a fourth relative heading reading at a point corresponding to said second maximum and a fifth relative heading reading at a point corresponding to said second minimum;

dividing said second difference by 180°

to obtain a second relative heading conversion constant;

averaging said first and second relative heading conversion constants to obtain a final relative heading conversion constant; and

employing said final relative heading conversion constant with said third relative heading reading from said relative heading sensor to generate said calibrated relative heading.