Method and device for updating magnetometer calibration

Abstract

The invention discloses a calibration updating method and device for a magnetometer. The method comprises the following steps: S1, performing initial calibration on the magnetometer according to magnetometer data acquired by a geomagnetic sensor in real time to obtain a fitted ellipse; S2, dividing a space region with center position coordinates of the fitting ellipse as the enter into a pluralityof regions, calculating the average value of boundary point coordinates of the fitted ellipse falling in each region, and storing the average value as boundary point data; S3, recalibrating the magnetometer to obtain a new fitted ellipse according to new magnetometer data acquired by the geomagnetic sensor and the stored boundary point data, and repeating steps S2 and S3 for the new fitted ellipse to realize calibration updating of the magnetometer. The problem that calibration results are affected due to inaccurate acquired data caused by new interference during the use of the magnetometer is solved, and the user experience is better.

Description

technical field [0001] The invention relates to the field of magnetometers, in particular to a method and device for calibrating and updating a magnetometer. Background technique [0002] The magnetometer is the most susceptible to interference among the nine-axis sensors, and the calibration of the magnetometer is an important factor in calculating the heading angle, so the calibration of the magnetometer is particularly important. In the initial calibration of the magnetometer, the fitting ellipse is obtained through a series of algorithms. After the ellipse fitting is completed, it will be processed by rotation, translation, scaling, etc., and the inclined ellipse whose center is not at the origin of the coordinates is transformed into a center at the origin of the coordinates through geometric transformation. , so as to achieve geomagnetic calibration that removes soft and hard magnetic interference. After the traditional algorithm completes the initial magnetometer cal...

AI Technical Summary

Problems solved by technology

The external environment when the magnetometer is in use may also receive new interference, such as mobile phones, etc., and the algorithm needs to be updated and corrected in the background in real time, otherwise it will cause the subsequent data collected by the magnetometer to be interfered by hard iron or soft iron. The data collected by the meter is inaccurate, resulting in poor user experience

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