Correction apparatus for an azimuth calculating system

• US 4,771,547 A
• Filed: 10/23/1986
• Issued: 09/20/1988
• Est. Priority Date: 10/23/1985
• Status: Expired due to Term

• Current Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Original Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Inventors: Ichikawa, Hitoshi, Akutsu, Kazushi
• Primary Examiner(s): Martin, Jr., William D.
• Application Number:
  US06/922,464
• Time in Patent Office: 698 Days
• Field of Search: 33/361, 33/362, 33/356, 33/363 R, 33/363 Q, 33/355, 33/349, 33/351, 33/352, 33/360
• US Class Current: 33/356
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses

Abstract

A correction apparatus for an azimuth calculation system which includes an azimuth sensor mounted on a moving body for producing two mutually perpendicular magnetic field components relative to the earth'"'"'s magnetism acting thereon, and wherein the azimuth sensor is moved in a full circle so that an azimuth circle is formed by the two magnetic field components. The correction apparatus is arranged to store a plurality of interspaced X-axis lines in parallel with the abscissa of a right-angled coordinate and a plurality of interspaced Y-axis lines in parallel with the ordinate of the coordinate, to determine maximum and minimum values respectively defined by intersections of the azimuth circle with the X-axis lines and maximum and minimum values respectively defined by intersections of the azimuth circle with the Y-axis lines, to determine first and second center values of the azimuth circle based on each mean value of the first-named maximum and minimum values and the second-named maximum and minimum values, to correct the magnetic field components respectively in accordance with the first and second center values, and to calculate a direction of the moving body on a basis of the corrected magnetic field components.

Claims

1. A correction apparatus for an azimuth calculation system which includes an azimuth sensor mounted on a moving body such as an automotive vehicle for producing two mutually perpendicular magnetic field components relative to the earth'"'"'s magnetism acting thereon, and wherein the azimuth sensor is moved in a full circle so that an azimuth circle is formed by the two magnetic field components, comprising:

first means for storing a plurality of interspaced X-axis lines in parallel with an abscissa of a right-angled coordinate system and for storing a plurality of interspaced Y-axis lines in a parallel with an ordinate of said right-angled coordinate system;

second means, connected to said first means, for reading said X-axis lines and said Y-axis lines from said first means and for determining an X maximum and an X minimum value among first segment lengths respectively defined by intersections of the azimuth circle with said X-axis lines and for determining a Y maximum and a Y minimum values among second segment lengths respectively defined by intersections of the azimuth circle with said y-axis lines;

third means, connected to said second means to receive said X maximum, X minimum, Y maximum, and Y minimum values, for determining a first center value of the azimuth circle bsed on a mean value between said X maximum value and said X- minimum values and for determining a second center value of the azimuth circle based on a mean value between said Y maximum value and said Y minimum values;

fourth means, connected to said third means to receive said first and second center values, for correcting the magnetic field components respectively in accordance with said first and second center values to produce corrected magnetic field components; and

fifth means, connected to said fourth means to receive said corrected magnetic field components, for calculating a direction of said moving body on a basis of the corrected magnetic field components.

2. A correction apparatus for an azimuth calculation system as claimed in claim 1, further comprising:

means, connected to said second means, for determining a first radius of the azimuth circle by calculating a mean value of halved differences between said Y maximum and said X minimum values, and

means, connected to said fifth means, for selectively correcting the corrected magnetic field components in accordance with the first and second radii.

3. A correction apparatus for an azimuth calculation system as claimed in claim 1, wherein said third means includes means for determining first and second center values Xc and Yc of the azimuth circle as:

##EQU3## where X_j H is said X maximum value, X_j L is said X minimum value, l is an integer for defining a maximum value of X_j H-X_j L, and N is an integer for defining at least an even pair of arithmetical mean values of Y_j H and X_j L, and where Y_i H is said Y maximum value, Y_i L is said Y minimum value, and k is an integer for defining a maximum value of Y_i H-Y_i L.

4. A correction apparatus for an azimuth calculation system as claimed in claim 2, wherein said means for determining first and second radii of the azimuth circle includes means for determining first and second radii as:

##EQU4## where X_j H is said X maximum value, X_j L is said X minimum value, l is an integer for defining a maximum value of X_j H -X_j L, and N is an integer for defining at least even pair of arithmetical mean values of X_j H and X_j L, and where Y_i H is said Y maximum value, Y_i L is said Y minimum value, and k is an integer for defining a maximum value of Y_i H-Y_i L.

5. A method for correcting an azimuth indication from an azimuth sensor mounting on a moving body such as an automobile, comprising the steps of:

moving said azimuth sensor in a full circle while receiving two mutually perpendicular magnetic field components therefrom to form an azimuth circle from the two magnetic field components;

storing a plurality of interspaced X-axis lines in parallel with an abscissa of a right angled coordinate system;

storing a plurality of interspaced Y-axis lines in parallel with an ordinate of said right angled coordinate system;

determining of plurality of first segment lengths respectfully defined by intersections of said azimuth circle with said X-axis lines;

determining an X maximum among said first segment lengths;

determining an X minimum among said first segment lengths;

determining second segment lengths respectively defined by intersections of said azimuth circle with said Y-axis lines;

determining Y maximum values among said second segment lengths;

determining Y minimum values among said second segment lengths;

determining a first center value of said azimuth circle as a mean value between said X maximum value and said X minimum values;

determining a second center value of said azimuth circle as a mean value between said Y maximum value and said Y minimum values;

correcting said magnetic field components from said azimuth center based on said first and second center values to produce corrected magnetic field components; and

calculating a direction of said moving body based on said corrected magnetic field components.

6. A method as in claim 5 wherein said determining first and second center values step includes the step of calculating Xc and Yc as:

##EQU5## where X_j H is said X maximum value, X_j L is said X minimum value, l is an integer for defining a maximum value of X_j H-X_j L, and N is an integer for defining at least even pair of arithmetical mean values of Y_j H and X_j L, and where Y_i H is said Y maximum value, Y_i L is said Y minimum value, and k is an integer for defining a maximum value of Y_i H-Y_i L.