Magnetic sensor control device

• US 7,676,341 B2
• Filed: 06/27/2008
• Issued: 03/09/2010
• Est. Priority Date: 10/11/2005
• Status: Expired due to Fees

• Current Assignee: Yamaha Corporation
• Original Assignee: Yamaha Corporation
• Inventors: Handa, Ibuki
• Primary Examiner(s): Nghiem; Michael P.
• Assistant Examiner(s): Le; Toan M
• Application Number:
  US12/163,683
• Publication Number:
  US 20080266695A1
• Time in Patent Office: 620 Days
• Field of Search: 702/104, 702 84- 85, 702/89, 702/92, 702 94- 95, 702/57, 702/81, 702/97, 702/107, 702/127, 702150-153, 702/155, 702157-158, 702182-183, 702/189, 702/196, 702/87, 324/200, 324/202, 324/207.11, 324/207.12, 324/226, 324/244, 324/260, 333/55.R, 333/56, 333/57, 701/224, 73/14.1
• US Class Current: 702/104
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses

Abstract

A magnetic sensor control device has an input section, a selection section, a calculation section, and a setting section. The input section inputs a plurality of magnetic data each having 3 components sequentially output from a 3-dimensional (3D) magnetic sensor. The selection section selects 4 magnetic data satisfying a predetermined 4-point selection condition from the plurality of the input magnetic data. The calculation section calculates a center point equally distant from 4 points corresponding to the 4 selected magnetic data. The setting section sets 3 components representing the center point as an offset of the magnetic data.

Claims

1. A magnetic sensor control device comprising:

an input section that inputs a plurality of magnetic data having 3 components sequentially output from a 3-dimensional (3D) magnetic sensor;

a buffer that stores the plurality of the input magnetic data;

a selection section that selects 4 magnetic data satisfying a predetermined 4-point selection condition from the plurality of the input magnetic data, wherein the selection section selects (n−

1)th magnetic data satisfying a predetermined selection condition before selecting nth (n=2, 3, or

     4) magnetic data, then obtains magnetic data, which has not been selected as any of up to the (n−

1)th magnetic data, from the buffer, and sets the obtained magnetic data as a candidate for selection of the nth magnetic data;

a calculation section that calculates a center point equally distant from 4 points each represented by 3 components of a corresponding one of the 4 selected magnetic data; and

a setting section that sets 3 components representing the center point as an offset of the magnetic data.

2. The magnetic sensor control device according to claim 1, wherein, the selection section has 3 data structures provided for storing 3 number of the input magnetic data as candidates for selection, the selection section updates the 3 data structures until the 3 magnetic data stored in the 3 data structures satisfy a predetermined 3-point selection condition, and selects 3 magnetic data satisfying the 3-point selection condition before selecting the 4th magnetic data based on the 4-point selection condition.

3. The magnetic sensor control device according to claim 2, wherein, when last input magnetic data is stored in one of the 3 data structures, the selection section selects the one data structure, and updates the selected data structure with the last input magnetic data, provided that the length of a chord of a circular arc passing through 3 points corresponding to the 3 magnetic data stored in the 3 data structures is increased or at least is not decreased by updating the one data structure with the last input magnetic data.

4. The magnetic sensor control device according to claim 2, wherein the selection section resets the 3 data structures when the number of times the 3 data structures have been updated with the input magnetic data exceeds a predetermined number of times.

5. The magnetic sensor control device according to claim 2, wherein the 3-point selection condition includes a triangle condition associated with distortion of a concerned triangle relative to a regular triangle, the concerned triangle having vertices specified by 3 points corresponding to the 3 magnetic data stored in the 3 data structures.

6. The magnetic sensor control device according to claim 5, wherein the triangle condition includes a condition that variation between inner angles of the concerned triangle is within a predetermine range.

7. The magnetic sensor control device according to claim 5, wherein the triangle condition includes a condition that variation between lengths of sides of the concerned triangle is within a predetermined range.

8. The magnetic sensor control device according to claim 5, wherein the triangle condition includes a condition that variation between distances of vertices of the concerned triangle from a centroid of the concerned triangle is within a predetermined range.

9. The magnetic sensor control device according to claim 5, wherein the triangle condition includes a condition that the ratio of an intermediate eigenvalue of a symmetric matrix A of 3 rows and 3 columns expressed as follows to a maximum eigenvalue of the symmetric matrix A is equal to or higher than a predetermined value:

$A=\underset{i=0}{\overset{2}{\sum <br><br>}}<br><br>\left(p_i-d_3\right)<br><br>{\left(p_i-d_3\right)}^T,$

where p_i (i=0, 1,

     2) denotes each vertex of the concerned triangle, T denotes a transposed vector, and d₃ denotes a centroid of the concerned triangle.

10. The magnetic sensor control device according to claim 1, wherein the 4-point selection condition includes a tetrahedron condition associated with distortion of a concerned tetrahedron relative to a regular tetrahedron, the concerned tetrahedron having vertices specified by 4 points corresponding to the 4 magnetic data as candidates for selection.

11. The magnetic sensor control device according to claim 10, wherein the tetrahedron condition includes a condition that variation between solid angles of a concerned tetrahedron is within a predetermined range.

12. The magnetic sensor control device according to claim 10, wherein the tetrahedron condition includes a condition that variation between areas of surfaces of the concerned tetrahedron is within a predetermined range.

13. The magnetic sensor control device according to claim 10, wherein the tetrahedron condition includes a condition that variation between distances of vertices of the concerned tetrahedron from a centroid of the concerned tetrahedron is within a predetermined range.

14. The magnetic sensor control device according to claim 10, wherein the tetrahedron condition includes a condition that respective eigenvalue ratios of two sets of eigenvalues included in a plurality of eigenvalues of a symmetric matrix B of 3 rows and 3 columns expressed as follows are higher than respective predetermined values:

$B=\underset{i=0}{\overset{3}{\sum <br><br>}}<br><br>\left(p_i-d_4\right)<br><br>{\left(p_i-d_4\right)}^T,$

where p_i (i=0, 1, 2,

     3) denotes each vertex of the concerned tetrahedron, T denotes a transposed vector and d₄ denotes a centroid of the concerned tetrahedron.

15. The magnetic sensor control device according to claim 1, wherein the selection section selects two magnetic data under the 4-point selection condition, as first and second points, corresponding to two points most distant from each other along a specific direction from the input magnetic data stored in the buffer, and furthermore selects two magnetic data as third and fourth points that have not been selected as the first or second point.

16. The magnetic sensor control device according to claim 15, wherein, the selection section selects concerned magnetic data maximizing D=a·

(q−

d) as the first point and selects further concerned magnetic data minimizing D=a·

(q−

d) as the second point, wherein “

a”

denotes a vector in the specific direction, “

d”

denotes a position vector of a centroid of points corresponding to the specific number of the input magnetic data stored in the buffer, and “

q”

denotes a position vector of a point corresponding to concerned magnetic data stored in the buffer.

17. The magnetic sensor control device according to claim 16, wherein an eigenvector corresponding to a minimum eigenvalue of a symmetric matrix C of 3 rows and 3 columns expressed as follows defines the vector in the specific direction:

$C=\underset{q_i=Q}{\sum <br><br>}<br><br>\left(q_i-d_N\right)<br><br>{\left(q_i-d_N\right)}^T$

where Q denotes a set of position vectors q_i, {q_i|0≦

i≦

N−

1},T denotes a transposed vector and d_N denotes the position vector of the centroid of the points indicated by the position vectors q_i.

18. A magnetic measurement apparatus comprising:

a 3-dimensional (3D) magnetic sensor that sequentially outputs a plurality of magnetic data each having 3 components;

an input section that inputs the plurality of the magnetic data having 3 components sequentially output from the 3-dimensional magnetic sensor;

a buffer that stores the plurality of the input magnetic data;

a selection section that selects 4 magnetic data satisfying a predetermined 4-point selection condition from the plurality of the input magnetic data, wherein the selection section selects (n−

1)th magnetic data satisfying a predetermined selection condition before selecting nth (n=2, 3, or

     4) magnetic data, then obtains magnetic data, which has not been selected as any of up to the (n−

1)th magnetic data, from the buffer, and sets the obtained magnetic data as a candidate for selection of the nth magnetic data;

a calculation section that calculates a center point equally distant from 4 points each represented by 3 components of a corresponding one of the 4 selected magnetic data; and

a setting section that sets 3 components representing the center point as an offset of the magnetic data.

19. A computer-implemented method for offset setting for magnetic sensors, the method comprising:

inputting a plurality of magnetic data having 3 components sequentially output from a 3-dimensional (3D) magnetic sensor;

storing the plurality of the input magnetic data in a buffer;

selecting 4 magnetic data satisfying a predetermined 4-point selection condition from the plurality of the input magnetic data, wherein the step of selecting selects (n−

1)th magnetic data satisfying a predetermined selection condition before selecting nth (n=2, 3, or

     4) magnetic data, then obtains magnetic data, which has not been selected as any of up to the (n−

1)th magnetic data, from the buffer, and sets the obtained magnetic data as a candidate for selection of the nth magnetic data;

calculating a center point equally distant from 4 points each represented by 3 components of a corresponding one of the 4 selected magnetic data; and

setting 3 components representing the center point as an offset of the magnetic data.

20. A computer-readable recording medium containing an offset setting program for magnetic sensors, the program being executable by a computer to perform a method comprising:

inputting a plurality of magnetic data having 3 components sequentially output from a 3-dimensional (3D) magnetic sensor;

storing the plurality of the input magnetic data in a buffer;

selecting 4 magnetic data satisfying a predetermined 4-point selection condition from the plurality of the input magnetic data, wherein the step of selecting selects (n−

1)th magnetic data satisfying a predetermined selection condition before selecting nth (n=2, 3, or

     4) magnetic data, then obtains magnetic data, which has not been selected as any of up to the (n−

1)th magnetic data, from the buffer, and sets the obtained magnetic data as a candidate for selection of the nth magnetic data;

calculating a center point equally distant from 4 points each represented by 3 components of a corresponding one of the 4 selected magnetic data; and

setting 3 components of the center point as an offset of the magnetic data.