Azimuth detecting device and azimuth detecting method
First Claim
1. An azimuth detecting device mounted in a mobile object, comprising:
- a satellite signal receiver;
a geomagnetic sensor; and
a computing unit configured to;
calculate a traveling azimuth of the mobile object on the basis of a radio wave received by the satellite signal receiver,statistically calculate an unknown geomagnetic declination and/or an unknown geomagnetic inclination by using the calculated traveling azimuth and an output of the geomagnetic sensor on the basis of a relational expression representing a relationship between the traveling azimuth, the output of the geomagnetic sensor, and the geomagnetic declination and/or the geomagnetic inclination,correct the output of the geomagnetic sensor by using the calculated geomagnetic declination and/or the calculated geomagnetic inclination, andcalculate an azimuth of the mobile object on the basis of the corrected output of the geomagnetic sensor.
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Accused Products
Abstract
An azimuth detecting device mounted in a mobile object and having: a geomagnetic sensor; GPS signal receiving means; and measuring means for measuring a position of the mobile object by using a GPS signal, the azimuth detecting device being characterized in calculating a gain correction amount by means of a method of least squares, using an output value of the geomagnetic sensor when a level of the GPS signal received by the GPS signal receiving means is lower than a predetermined level, and calculating a declination correction amount and/or an inclination correction amount on the basis of information obtained from the GPS signal and correcting the output value of the geomagnetic sensor, when the level of the GPS signal is at least the predetermined level.
12 Citations
5 Claims
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1. An azimuth detecting device mounted in a mobile object, comprising:
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a satellite signal receiver; a geomagnetic sensor; and a computing unit configured to; calculate a traveling azimuth of the mobile object on the basis of a radio wave received by the satellite signal receiver, statistically calculate an unknown geomagnetic declination and/or an unknown geomagnetic inclination by using the calculated traveling azimuth and an output of the geomagnetic sensor on the basis of a relational expression representing a relationship between the traveling azimuth, the output of the geomagnetic sensor, and the geomagnetic declination and/or the geomagnetic inclination, correct the output of the geomagnetic sensor by using the calculated geomagnetic declination and/or the calculated geomagnetic inclination, and calculate an azimuth of the mobile object on the basis of the corrected output of the geomagnetic sensor. - View Dependent Claims (2, 3, 4)
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5. An azimuth detecting method, comprising:
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receiving an output value of a satellite signal receiver; receiving an output value of a geomagnetic sensor; calculating, via a computing unit, a traveling azimuth of a mobile object on the basis of a radio wave received by the satellite signal receiver; calculating, via the computing unit, an unknown geomagnetic declination and/or an unknown geomagnetic inclination by using the calculated traveling azimuth and the output value of the geomagnetic sensor on the basis of a relational expression representing a relationship between the traveling azimuth, the output value of the geomagnetic sensor, and the geomagnetic declination and/or the geomagnetic inclination; correcting, via the computing unit, the output value of the geomagnetic sensor by using the calculated geomagnetic declination and/or the calculated geomagnetic inclination; and calculating, via the computing unit, an azimuth of the mobile object on the basis of the corrected output value of the geomagnetic sensor.
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Specification