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WO2009061059A1 - Procédé pour étalonner un capteur géomagnétique et appareil associé - Google Patents

Procédé pour étalonner un capteur géomagnétique et appareil associé Download PDF

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Publication number
WO2009061059A1
WO2009061059A1 PCT/KR2008/003776 KR2008003776W WO2009061059A1 WO 2009061059 A1 WO2009061059 A1 WO 2009061059A1 KR 2008003776 W KR2008003776 W KR 2008003776W WO 2009061059 A1 WO2009061059 A1 WO 2009061059A1
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WO
WIPO (PCT)
Prior art keywords
value
geomagnetic sensor
point
circle
gps
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2008/003776
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English (en)
Inventor
Jang-Youl Shin
Yong Kwan Park
Kwon Soo Lee
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Thinkware Systems Corp
Original Assignee
Thinkware Systems Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thinkware Systems Corp filed Critical Thinkware Systems Corp
Publication of WO2009061059A1 publication Critical patent/WO2009061059A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/02—Magnetic compasses
    • G01C17/28—Electromagnetic compasses
    • G01C17/30—Earth-inductor compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers

Definitions

  • the present invention relates to a geomagnetic sensor calibration method and apparatus, and more particularly, to a geomagnetic sensor calibration method and apparatus which calculates a center of a circle to obtain a magnetic north of a geomagnetic sensor using Global Positioning System (GPS) data, and calibrates the geomagnetic sensor using the center of the circle.
  • GPS Global Positioning System
  • a navigation system is a system which provides information for driving of a transportation device, such as a vehicle, using an artificial satellite.
  • the navigation system is automatic.
  • the navigation system is embodied as a single terminal.
  • the navigation system includes a storage media storing map data, and a Global Positioning System (GPS) receiver receiving a GPS signal.
  • GPS Global Positioning System
  • the navigation system may provide a user with information about a current location of a vehicle based on calculated location information, perform routing to calculate a route to a desired destination, and provide guidance about the route.
  • predetermined location data is received from a GPS satellite above the Earth using a GPS receiver, and the location of the vehicle is calculated based on the received data.
  • a geomagnetic sensor and acceleration sensor installed in a vehicle are used to calculate a current location of the vehicle.
  • a GPS signal is received to calculate the current location and the calculated location is corrected based on a result sensed by the sensors.
  • a geomagnetic sensor senses the Earth's magnetic field to obtain magnetic north at a current location.
  • a geomagnetic sensor uses values of an x axis and a y axis or values of x, y, and z axes to sense a magnetic north direction.
  • an approximate circle is shown on the graph as illustrated in FIG. 1.
  • a center of a circle is to be calculated and an angle between a direction of magnetic north and a line connecting the center of the circle with a current location indicated by data of an x axis and y axis is required to be calculated. Accordingly, an accurate center point of a circle is to be calculated to obtain magnetic north using data of a geomagnetic sensor.
  • a distribution range of output value may vary.
  • output values of a geomagnetic sensor do not add up to a predetermined value, a range of the output values may not be ascertained. Accordingly, sufficient output values of a geomagnetic sensor are required to make a circle.
  • an indicating direction of a geomagnetic sensor may be different from an actual driving direction of a vehicle.
  • a direction of a vehicle equipped with a navigation device is not identical to an indicating direction of a geomagnetic sensor of the navigation device, an error preventing a location of the vehicle from being accurately determined may occur.
  • a geomagnetic sensor is to be accurately calibrated.
  • the present invention provides a geomagnetic sensor calibration method and apparatus which calculates a center of a circle to obtain magnetic north of a geomagnetic sensor using Global Positioning System (GPS) data, and calibrates the geomagnetic sensor using the center of the circle.
  • GPS Global Positioning System
  • a geomagnetic sensor calibration method including: receiving a Global Positioning System (GPS) signal from a GPS satellite; extracting a course value of a GPS from the GPS signal; and calibrating a geomagnetic sensor based on the course value of the GPS.
  • GPS Global Positioning System
  • a geomagnetic sensor calibration apparatus including: a GPS signal receiving unit receiving a GPS signal from a GPS satellite; a GPS course value extraction unit extracting a course value of a GPS from the GPS signal; and a geomagnetic sensor calibration unit calibrating a geomagnetic sensor based on the course value of the GPS.
  • a method and apparatus for calibrating a geomagnetic sensor based on a course value of a Global Positioning System is provided to provide more accurate geographic information using the calibrated geomagnetic sensor.
  • GPS Global Positioning System
  • FIG. 1 is a diagram illustrating an example of an output graph of a geomagnetic sensor according to a related art
  • FIG. 2 is a block diagram illustrating a configuration of a geomagnetic sensor calibration apparatus according to an embodiment of the present invention
  • FIG. 3 illustrates a size of a circle and a location of a point on an XY graph of a geomagnetic sensor according to a related art
  • FIG. 4 is a block diagram illustrating an example of a configuration of a geomagnetic sensor calibration unit of FIG. 2;
  • FIG. 5 is a diagram illustrating an example of an isosceles triangle having a base which connects a first point and second point on a circle according to a related art
  • FIG. 6 is a diagram illustrating an example of a center of a circle and a current output value of a geomagnetic sensor according to a related art
  • FIG. 7 is a diagram illustrating an example of a driving direction of a vehicle and magnetic north of a geomagnetic sensor according to a related art
  • FIG. 8 is a flowchart illustrating a geomagnetic sensor calibration method according to an embodiment of the present invention.
  • FIG. 9 is a flowchart illustrating an operation of calibrating a geomagnetic sensor illustrated in FIG. 8;
  • FIG. 10 is a flowchart illustrating an operation of calculating a center of a circle illustrated in FIG. 9; and FIG. 11 is a flowchart illustrating an operation of calculating a radius of a circle illustrated in FIG. 10.
  • FIG. 2 is a block diagram illustrating a configuration of a geomagnetic sensor calibration apparatus 200 according to an embodiment of the present invention.
  • the geomagnetic sensor calibration apparatus 200 includes a Global Positioning System (GPS) signal receiving unit 210, GPS course value extraction unit 220, geomagnetic sensor calibration unit 230, and geomagnetic sensor 240.
  • GPS Global Positioning System
  • the GPS signal receiving unit 210 receives a GPS signal from a GPS satellite.
  • the GPS signal may be accurately received from the GPS satellite.
  • the GPS course value extraction unit 220 extracts a course value of a GPS from the GPS signal.
  • the GPS course value may include a GPS location value and GPS angle. Specifically, when the GPS signal is stably received from the GPS satellite, since the vehicle equipped with the navigation system is not located in the tunnel or nearby skyscrapers and the driving speed of the vehicle does not rapidly change, a reliable GPS course value may be extracted from the GPS signal.
  • FIG. 3 illustrates a size of a circle and a location of a point on an XY graph of a geomagnetic sensor according to a related art.
  • the GPS course value extraction unit 220 may extract a GPS course value ( ⁇ l) with respect to a first point (Pl) and a GPS course value ( ⁇ 2) with respect to a second point (P2) from the GPS signal.
  • the geomagnetic sensor calibration unit 230 calibrates the geomagnetic sensor 240 based on the GPS course value. That is, when the GPS course value is reliable, the geomagnetic sensor calibration unit 230 may calibrate an angle value, which is an output value of the geomagnetic sensor 240, based on the GPS course value.
  • FIG. 4 is a block diagram illustrating an example of a configuration of the geomagnetic sensor calibration unit 230 of FIG. 2.
  • the geomagnetic sensor calibration unit 230 includes a location determination unit 410, calculation unit 420, and calibration unit 430.
  • the location determination unit 410 determines a location where a value currently obtained by the geomagnetic sensor 240 is located on an XY graph of the geomagnetic sensor 240 using the GPS course value. For example, as illustrated in FIG. 3, the location determination unit 410 may determine locations of a first point (Pl(xl, yl)) and a second point (P2(x2, y2)), that is, values currently obtained by the geomagnetic sensor 240, on the XY graph of the geomagnetic sensor 240 using the GPS course value.
  • the calculation unit 420 calculates a center of a circle on the XY graph of the geomagnetic sensor 240 based on the determined locations and a size of the circle.
  • FIG. 5 is a diagram illustrating an example of an isosceles triangle having a base which connects a first point and second point on a circle according to a related art.
  • a radius (r) of the circle is identical to a length of equal sides of the isosceles triangle having a line (h) and a vertex.
  • the line (h) is the base of the isosceles triangle and connects the first point (Pl (xl, yl)) and the second point (P2 (x2, y2)), and the vertex is a center of the circle (PO (x ⁇ , y ⁇ )).
  • a calculation unit 420 may calculate the radius (r) of the circle using the length of the equal sides of the isosceles triangle.
  • a length of the line (h) is identical to a distance between the first point (Pl) and the second point (P2).
  • a base angle (A2) of the isosceles triangle may be calculated using a course value ( ⁇ l ) of a GPS with respect to the first point (Pl) and a course value ( ⁇ 2) of a GPS with respect to the second point (P2).
  • the calculation unit 420 calculates the radius (r) of the circle using the length of the equal side of the isosceles triangle.
  • the isosceles triangle has the base corresponding to the line (h), and the vertex corresponding to the center of the circle (PO (x ⁇ , y ⁇ )).
  • the line (h) connects the first point (Pl (xl , yl)) and the second point (P2 (x2, y2)).
  • the calculation unit 420 calculates the length of the line (h) through operations below.
  • the calculation unit 420 calculates a first value ((xl - x2) ⁇ 2).
  • the first value is obtained by squaring a difference (xl - x2) between an x coordinate (xl) of the first point (Pl (xl, yl)) and an x coordinate (x2) of the second point (P2 (x2, y2)).
  • the calculation unit 420 calculates a second value ((yl - y2) /v 2).
  • the second value is obtained by squaring a difference (yl - y2) between the y coordinate (yl) of the first point (Pl) and the y coordinate (y2) of the second point (P2).
  • the calculation unit 420 may calculate the length of the line (h) by substituting a coordinate value (xl, yl) of the first point (Pl) and a coordinate value (x2, y2) of the second point (P2) with Equation 1.
  • the calculation unit 420 calculates a vertical angle (Al) of the isosceles triangle, and calculates the base angle (A2) of the isosceles triangle using the vertical angle (Al ).
  • calculation unit 420 calculates the radius (r) of the circle using the length of the line (h) and base angle (A2).
  • the calculation unit 420 calculates the vertical angle (Al) using the GPS course value (01) with respect to the first point (Pl) and the GPS course value ( ⁇ 2) with respect to the second point (P2). That is, the calculation unit 420 may calculate the vertical angle (Al) by substituting the GPS course value (01) of the first point (Pl) and the GPS course value ( ⁇ 2) of the second point (P2) with Equation 2.
  • the GPS course value (01) of the first point (Pl) and the GPS course value (02) of the second point (P2) are equal to or greater than 0 degrees and less than 360 degrees.
  • A2 (180 degrees - A l)/2
  • the calculation unit 420 calculates the center of the circle (PO) using the first point (Pl), second point (P2), and the length of the radius (r).
  • the value (r*sin( ⁇ l)) is obtained by multiplying the radius (r) of the circle with a value of the sine of the GPS course value ( ⁇ l) of the first point (Pl), (sin( ⁇ l)).
  • the value (r*cos( ⁇ l)) is obtained by multiplying the radius (r) of the circle with a value of the cosine of the GPS course value ( ⁇ l) of the first point (Pl), (cos( ⁇ l)).
  • the calculation unit 420 may calculate the center of the circle (PO) using Equation 5.
  • y ⁇ yl - r*cos( ⁇ l)
  • the value (r*sin( ⁇ 2)) is obtained by multiplying the radius (r) of the circle with a value of the sine of the GPS course value ( ⁇ 2) of the second point (P2), (sin( ⁇ 2)).
  • the value (r*cos( ⁇ 2)) is obtained by multiplying the radius (r) of the circle with a value of the cosine of the course value ( ⁇ 2) of the GPS of the second point (P2), (COS( ⁇ 2)). That is, since the center of the circle (PO) is located away from the second point (P2 (x2, y2)) by the radius (r), the calculation unit 420 may calculate the center of the circle (PO) using Equation 6.
  • the calculation unit 420 may calculate the center of the circle (PO (x ⁇ , yO)) using the coordinate value (xl, yl) of the first point (Pl), the GPS course value (01) with respect to the first point (Pl), the coordinate value (x2, y2) of the second point (P2), the GPS course value (02) with respect to the second point (P2), or the radius (r) of the circle.
  • a calibration unit 430 calibrates the geomagnetic sensor 240 using the center of the circle (P (x ⁇ , yO)). Specifically, the calibration unit 430 may calibrate data of the geomagnetic sensor 240 using the center of the circle (PO (x ⁇ , yO)) calculated by the calculation unit 420.
  • FIG. 6 is a diagram illustrating an example of a center of a circle and a current output value of a geomagnetic sensor according to a related art.
  • a calibration unit 430 may obtain magnetic north ( ⁇ ) from a current location and calibrate the geomagnetic sensor 240 by substituting the calculated center of the circle (PO (x ⁇ , yO)) and the current output value (P (x, y)) of the geomagnetic sensor 240 with Equation 7.
  • FIG. 7 is a diagram illustrating an example of a driving direction of a vehicle and a magnetic north of a geomagnetic sensor according to a related art.
  • FIG. 8 is a flowchart illustrating a geomagnetic sensor calibration method according to an embodiment of the present invention.
  • a geomagnetic sensor calibration apparatus receives a GPS signal from a GPS satellite. Specifically, in operation S810, when a vehicle equipped with a navigation system with the geomagnetic sensor calibration apparatus is not located in a tunnel or skyscrapers and a driving speed of the vehicle does not rapidly change, the geomagnetic sensor calibration apparatus may accurately receive the GPS signal from the GPS satellite.
  • the geomagnetic sensor calibration apparatus extracts a course value of a GPS from the GPS signal. Specifically, in operation S820, when the GPS signal is stably received from the GPS satellite since the vehicle equipped with the navigation system is not located in the tunnel or skyscrapers and the driving speed of the vehicle does not rapidly change, the geomagnetic sensor calibration apparatus may extract a reliable GPS course value from the GPS signal. For example, in operation S820, the geomagnetic sensor calibration apparatus may extract a GPS course value ( ⁇ l) with respect to a first point (Pl) and a GPS course value ( ⁇ 2) with respect to a second point (P2) from the GPS signal.
  • the geomagnetic sensor calibration apparatus calibrates a geomagnetic sensor based on the GPS course value. That is, in operation S830, when the GPS course value is reliable, the geomagnetic sensor calibration apparatus may calibrate an angle value, which is an output value of the geomagnetic sensor, based on the GPS course value.
  • an operation of calibrating is described in greater detail with reference to FIG. 9.
  • FIG. 9 is a flowchart illustrating an operation of calibrating a geomagnetic sensor illustrated in FIG. 8.
  • the geomagnetic sensor calibration apparatus determines a location where a value currently obtained by the geomagnetic sensors is located on an XY graph of the geomagnetic sensor using the GPS course value.
  • the geomagnetic sensor calibration apparatus calculates a center of a circle on the XY graph of the geomagnetic sensor based on the determined location and a size of the circle.
  • an operation of calculating the center of the circle is described in greater detail with reference to FIG. 10.
  • FIG. 10 is a flowchart illustrating an operation of calculating a center of a circle illustrated in FIG. 9.
  • the geomagnetic sensor calibration apparatus calculates a radius of the circle.
  • an operation of calculating the radius of the circle is described in greater detail with reference to FIG. 11.
  • FIG. 11 is a flowchart illustrating an operation of calculating a radius of a circle illustrated in FIG. 10.
  • the geomagnetic sensor calibration apparatus calculates a length of a line (h) of an isosceles triangle illustrated in FIG. 5.
  • the geomagnetic sensor calibration apparatus calculates a first value ((xl - x2) ⁇ 2).
  • the first value is obtained by squaring a difference (xl - x2) between an x coordinate (xl) of the first point (Pl (xl, yl)) and an x coordinate (x2) of the second point (P2 (x2, y2)).
  • the geomagnetic sensor calibration apparatus calculates a second value ((yl - y2) /v 2).
  • sqrt indicates a square root and ⁇ 2 indicates a square.
  • the geomagnetic sensor calibration apparatus calculates a vertical angle (Al) of the isosceles triangle. Specifically, in operation Sl 120, the geomagnetic sensor calibration apparatus calculates the vertical angle (Al) using the GPS course value ( ⁇ l) with respect to the first point (Pl) and the GPS course value ( ⁇ 2) with respect to the second point (P2). In this instance, the vertical angle (Al) of the isosceles triangle is given by min( ⁇ l - ⁇ 2, ⁇ 2 - 01) where min indicates a minimum value. Also, the GPS course value ( ⁇ l) of the first point (Pl) and the GPS course value (02) of the second point (P2) are equal to or greater than 0 degrees and less than 360 degrees.
  • the geomagnetic sensor calibration apparatus calculates the center of the circle (PO (x ⁇ , yO)) using the first point (Pl (xl, yl)), second point (P2 (xl, yl)), and the length of the radius (r) of the circle.
  • the geomagnetic sensor calibration apparatus may calculate the center of the circle (PO (x ⁇ , yO)) as follows.
  • the value (r*cos( ⁇ l)) is obtained by multiplying the radius (r) of the circle with a value of the cosine of the GPS course value ( ⁇ l) of the first point (Pl (xl, yl)), (cos( ⁇ l)).
  • the geomagnetic sensor calibration apparatus may calculate the center of the circle (PO (x ⁇ , yO)) as follows.
  • the value (r*sin( ⁇ 2)) is obtained by multiplying the radius (r) of the circle with a value of the sine of the GPS course value ( ⁇ 2) of the second point (P2), (sin( ⁇ 2)).
  • the value (r*cos( ⁇ 2)) is obtained by multiplying the radius (r) of the circle with a value of the cosine of the course value ( ⁇ 2) of the GPS of the second point (P2), (COS( ⁇ 2)).
  • the geomagnetic sensor calibration apparatus may calculate the center of the circle (PO (xO, yO)) using the coordinate value (xl , yl) of the first point (Pl), the GPS course value ( ⁇ l) with respect to the first point (Pl), the coordinate value (x2, y2) of the second point (P2), the GPS course value ( ⁇ 2) with respect to the second point (P2), or the radius (r) of the circle.
  • the geomagnetic sensor calibration apparatus calibrates the geomagnetic sensor using the center of the circle (P (xO, yO)).
  • the geomagnetic sensor calibration apparatus may calibrate the geomagnetic sensor using the center of the circle (PO (xO, yO)) to accurately calculate magnetic north.
  • the geomagnetic sensor calibration apparatus may calibrate the geomagnetic sensor.
  • the geomagnetic sensor calibration method calibrates the geomagnetic sensor based on the GPS course value, and thereby may provide more accurate geographic information using the accurately calibrated geomagnetic sensor of a navigation system.
  • the above-described embodiment of the present invention may be recorded in computer-readable media including program instructions to implement various operations embodied by a computer.
  • the media may also include, alone or in combination with the program instructions, data files, data structures, and the like.
  • the media and program instructions may be those specially designed and constructed for the purposes of the present invention, or they may be of the kind well-known and available to those having skill in the computer software arts.
  • Examples of computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD ROM disks and DVD; magneto-optical media such as floptical disks; and hardware devices that are specially configured to store and perform program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory, and the like.
  • Examples of program instructions include both machine code, such as produced by a compiler, and files containing higher level code that may be executed by the computer using an interpreter.
  • the described hardware devices may be configured to act as one or more software modules in order to perform the operations of the above-described embodiments of the present invention.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geology (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé pour étalonner un capteur géomagnétique, comprenant les étapes suivantes: réception d'un signal provenant d'un système mondial de localisation (GPS) provenant d'un satellite GPS; extraction d'une valeur de trajectoire d'un GPS à partir d'un signal GPS; et étalonnage du capteur géomatique à partir de la valeur de trajectoire du GPS.
PCT/KR2008/003776 2007-11-09 2008-06-28 Procédé pour étalonner un capteur géomagnétique et appareil associé Ceased WO2009061059A1 (fr)

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KR1020070114528A KR20090048230A (ko) 2007-11-09 2007-11-09 지자기 센서 보정 방법 및 그 장치
KR10-2007-0114528 2007-11-09

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WO2009061059A1 true WO2009061059A1 (fr) 2009-05-14

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WO2014015755A1 (fr) * 2012-07-25 2014-01-30 华为终端有限公司 Procédé de correction d'angle de direction d'un magnétomètre, et magnétomètre
CN111680251A (zh) * 2020-05-28 2020-09-18 平安普惠企业管理有限公司 浏览器元素测量方法、装置、电子设备及存储介质

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CN102788170A (zh) * 2012-08-21 2012-11-21 上海开维喜阀门集团有限公司 阀座和阀体全金属密封结构
CN111982155B (zh) * 2020-08-27 2022-08-12 北京爱笔科技有限公司 磁传感器的标定方法、装置、电子设备和计算机存储介质

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JPH0518770A (ja) * 1991-07-10 1993-01-26 Pioneer Electron Corp 方位検出装置
JPH0518764A (ja) * 1991-07-12 1993-01-26 Matsushita Electric Ind Co Ltd 車両位置検出装置
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JPH0518770A (ja) * 1991-07-10 1993-01-26 Pioneer Electron Corp 方位検出装置
JPH0518764A (ja) * 1991-07-12 1993-01-26 Matsushita Electric Ind Co Ltd 車両位置検出装置
KR19980028621A (ko) * 1996-10-23 1998-07-15 오상수 차량항법시스템의 지자기센서 자동보정방법

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WO2014015755A1 (fr) * 2012-07-25 2014-01-30 华为终端有限公司 Procédé de correction d'angle de direction d'un magnétomètre, et magnétomètre
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CN111680251A (zh) * 2020-05-28 2020-09-18 平安普惠企业管理有限公司 浏览器元素测量方法、装置、电子设备及存储介质

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