Method and apparatus for calibrating a magnetic sensor
First Claim
1. A method for calibrating a magnetic sensor implemented by one or more integrated circuits, the method comprising:
- obtaining location-based magnetic field values for a location;
obtaining magnetic field measurements from the magnetic sensor corresponding to the location;
fitting the obtained magnetic field measurements to an ellipsoid using the one or more integrated circuits;
extracting calibration values using the ellipsoid and obtained location-based magnetic field values;
detecting motion of a device including the sensor, wherein the magnetic field measurements obtaining step is performed in conjunction with the detected motion; and
monitoring the detected motion to detect acceleration spikes above a predetermined threshold, wherein the obtained magnetic field measurements during the detected acceleration spikes are discarded.
2 Assignments
0 Petitions
Accused Products
Abstract
In general, the invention relates to an algorithm and process for automated and/or continuous calibration of magnetic sensor, for example such as a sensor installed in a mobile positioning system handset. According to certain aspects, the calibration process can use the normal motion of the handset such that all measurement data from the three orthogonal axes of sensor when exposed to Earth'"'"'s magnetic field is collected. According to still further aspects, the process includes fitting measurement data to an ellipsoid that characterizes the actual magnetic field measurements from a magnetic sensor, so that anomalies such as hard iron effect, soft iron effect and scale factors can be extracted and/or corrected by comparison to a sphere represented by magnetic field data from a model at the sensor'"'"'s location.
49 Citations
15 Claims
-
1. A method for calibrating a magnetic sensor implemented by one or more integrated circuits, the method comprising:
-
obtaining location-based magnetic field values for a location; obtaining magnetic field measurements from the magnetic sensor corresponding to the location; fitting the obtained magnetic field measurements to an ellipsoid using the one or more integrated circuits; extracting calibration values using the ellipsoid and obtained location-based magnetic field values; detecting motion of a device including the sensor, wherein the magnetic field measurements obtaining step is performed in conjunction with the detected motion; and monitoring the detected motion to detect acceleration spikes above a predetermined threshold, wherein the obtained magnetic field measurements during the detected acceleration spikes are discarded. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A method for calibrating a magnetic sensor implemented by one or more integrated circuits, the method comprising:
-
obtaining location-based magnetic field values for a location; obtaining magnetic field measurements from the magnetic sensor corresponding to the location, fitting the obtained magnetic field measurements to an ellipsoid using the one or more integrated circuits; and extracting calibration values using the ellipsoid and obtained location-based magnetic field values, wherein the fitting step includes expressing the location-based magnetic field values in terms of raw measurements as a function of magnetic field error components, and wherein the expression comprises; - View Dependent Claims (14, 15)
-
Specification