Navigation method for vehicles with electronic compass

• US 4,989,333 A
• Filed: 04/21/1989
• Issued: 02/05/1991
• Est. Priority Date: 12/30/1986
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Kanzler, Ulrich, Rauch, Hans, Helldorfer, Reinhard
• Primary Examiner(s): Will, Thomas B.
• Application Number:
  US07/347,774
• Time in Patent Office: 655 Days
• Field of Search: 33/356, 33/357, 33/361, 364/559, 364/571.01, 364/571.02
• US Class Current: 33/356
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses

Abstract

A method for determining the direction of the earth field, the north direction and the travelling direction of a vehicle by way of a magnetometer mounted in the vehicle is based on dynamic compensation or updating of interfering field changes. For this purpose, a resultant vector (v_K) is formed from the magnetic field vector (V_M) effective at the magnetometer, the previous hard-magnetic interfering field vector (H_H) and the nominal vector (V_P) determined from the circle diagram (O) of the magnetic field, as interfering field change in accordance with the equation v_K =V_M -v_B -H_H and this vector is weighted with a factor (k<1). The weighted resultant vector (K×v_K) is then added to the previous interfering field vector (H_H). Using the new hard-magnetic interfering field vector (H_H'"'"'), thus determined, the direction of the earth field is then calculated in known manner and evaluated for navigation.

Claims

1. In a method for determining the direction of the earth magnetic field, the north direction and the travelling direction of a vehicle by means of a magnetometer fixedly mounted in said vehicle to measure components of a magnetic field effective at the magnetometer and by means of an evaluation circuit which cyclically evaluates and stores the measured components as electric measurement values defining parameters of an elliptical locus diagram of the magnetic field, inclusive of the magnitude and direction of hard-magnetic and soft-magnetic interfering fields, and calculates the direction of the earth magnetic field with respect to the travelling direction, an improvement comprising the steps of

(a) cyclically determining a nominal vector (v_B) which on the elliptical locus diagram is associated with a vector (v_M) of the magnetic field effective at a magnetometer;

(b) determining from the nominal vector (v_B), a current hard-magnetic interfering field vector (H_H) and the magnetic field vector (v_M) a resultant vector (v_K) which indicates a change of the hard-magnetic interfering field;

(c) weighting the resultant vector (v_K) with a factor k<

1,

(d) adding the weighted resultant vector (k.v_K) to the current hard-magnetic interfering vector (H_H) to form a new hard-magnetic interfering field vector (H_H,), and

(e) for dynamically compensating changes of the hard-magnetic interfering field, calculating the direction of the earth magnetic field with respect to the travelling direction by using the new hard-magnetic interfering field vector (H_H,)

(f) selecting the factor k in dependence on the cycle time (T) of the measurement value acquisition, in such a manner that the interfering field changes (v_K) occurring for a short time over a few seconds are almost suppressed.

2. Improvement as defined in claim 1, further comprising the steps of successively storing the evaluated measurement values in a data buffer having a particular number of memory cells which are allocated to a corresponding number of equal angle segments (w) of the elliptical locus diagram (0);

after the particular number of memory cells has been filled with the successive measurement values, recalculating from the stored measurement values new parameters for the elliptical locus diagram; and

correcting the previous parameters (P_old) by averaging them with the recalculated new parameters (P_new) to dynamically compensate changes of the soft-magnetic interfering field.

3. Improvement according to claim 1, wherein several measurement values (x) for each quadrant of the elliptical locus diagram (0) must be stored in the data buffer (12a) for the recalculation of the parameters (P).

4. In a method for determining the direction of the earth magnetic field, the north direction and the travelling direction of a vehicle by means of a magnetometer fixedly mounted in said vehicle to measure components of a magnetic field effective at the magnetometer and by means of an evaluation circuit which cyclically evaluates and stores the measured components as electric measurement values defining parameters of an elliptical locus diagram of the magnetic field, inclusive of the magnitude and direction of hard-magnetic and soft-magnetic interfering fields, and calculates the direction of the earth magnetic field with respect to the travelling direction, an improvement comprising the steps of

(a) cyclically determining a nominal vector (v_B) which on the elliptical locus diagram is associated with a vector (v_M) of the magnetic field effective at the magnetometer;

(b) determining from the nominal vector (v_B), a current hard-magnetic interfering field vector (H_H) and the magnetic field vector (v_M) a resultant vector (v_K) which indicates a change of the hard-magnetic interfering field;

(c) weighting the resultant vector (v_K) with a factor k<

1,

(d) adding the weighted resultant vector (k.v_K) to the current hard-magnetic interfering vector (H_H) to form a new hard-magnetic interfering field vector (H_H,),

(e) for dynamically compensating changes of the hard-magnetic interfering field, calculating the direction of the earth magnetic field with respect to the travelling direction by using the new hard-magnetic interfering field vector (H_H,),

(f) and fully updating the interfering field changes (v_K) occurring over a long time over several minutes due to connection of disconnection of loads in the vehicle, as a result of the factor k.