Apparatus and method of calibrating azimuth of mobile device
    1.
    发明授权
    Apparatus and method of calibrating azimuth of mobile device 有权
    校准移动设备方位的装置和方法

    公开(公告)号:US07069663B2

    公开(公告)日:2006-07-04

    申请号:US10987305

    申请日:2004-11-15

    IPC分类号: G01C17/38 G01P21/00

    CPC分类号: G01C17/38

    摘要: Provided are an apparatus and method of calibrating azimuth of a mobile device. The apparatus includes: a magnetic field measuring unit having a plurality of magnetic sensors aligned in a constant angle interval on the mobile device and measuring magnetic field data indicating magnitudes of a magnetic field in different directions; and a controller generating a calibration table indicating a correspondence between an actual magnetic field trajectory formed by the magnetic field data and a theoretical magnetic field trajectory and calibrating azimuth of the mobile device using the calibration table.

    摘要翻译: 提供了校准移动设备的方位角的装置和方法。 该装置包括:磁场测量单元,具有在移动设备上以恒定角度间隔排列的多个磁传感器,并测量指示不同方向磁场强度的磁场数据; 以及控制器,生成表示由磁场数据形成的实际磁场轨迹与理论磁场轨迹之间的对应关系的校准表,并使用校准表来校准移动设备的方位角。

    Apparatus and method of calibrating azimuth of mobile device
    2.
    发明授权
    Apparatus and method of calibrating azimuth of mobile device 有权
    校准移动设备方位的装置和方法

    公开(公告)号:US07421792B2

    公开(公告)日:2008-09-09

    申请号:US10987319

    申请日:2004-11-15

    IPC分类号: G01C17/38 G01P21/00

    CPC分类号: G01C17/38

    摘要: Provided are an apparatus and method of calibrating azimuth of a mobile device. The apparatus includes: a motor; a magnetic field measuring unit disposed in the mobile device and measuring magnetic field data indicating magnitudes of a magnetic field in different directions while being rotated by the motor; and a controller driving the motor, generating a calibration table indicating a correspondence between an actual magnetic field trajectory formed by the magnetic field data and a theoretical magnetic field trajectory and calibrating azimuth of the mobile device using the calibration table.

    摘要翻译: 提供了校准移动设备的方位角的装置和方法。 该装置包括:马达; 设置在所述移动设备中的磁场测量单元,并且在由所述电机旋转的同时测量指示不同方向的磁场的大小的磁场数据; 以及驱动所述电动机的控制器,生成表示由所述磁场数据形成的实际磁场轨迹与理论磁场轨迹之间的对应关系的校准表,并使用所述校准表校准所述移动装置的方位角。

    Method and apparatus for determining a geomagnetic field by using a compass and method and apparatus for determining an azimuth angle of a moving object using the same
    3.
    发明授权
    Method and apparatus for determining a geomagnetic field by using a compass and method and apparatus for determining an azimuth angle of a moving object using the same 有权
    使用罗盘确定地磁场的方法和装置,以及使用该方法和装置确定运动物体的方位角的方法和装置

    公开(公告)号:US07168177B2

    公开(公告)日:2007-01-30

    申请号:US11049860

    申请日:2005-02-04

    IPC分类号: G01C17/28

    CPC分类号: G01C17/30 G01C17/38

    摘要: There are provided a method and apparatus for determining a geomagnetic field by using a compass and a method and apparatus for determining an azimuth angle of a moving object using the method and apparatus for determining a geomagnetic field. The method of determining a geomagnetic field by using a compass includes defining an allowable magnetic field range used to determine a valid geomagnetic region; calculating a magnitude of a magnetic field in a geomagnetic-field validity test region by using a compass; and if the magnitude of the magnetic field is within the allowable magnetic field range, determining that the geomagnetic-field validity test region is the valid geomagnetic region, and if not, determining that there is applied an external magnetic field disturbance. Accordingly, since an error of an azimuth angle of the compass due to an external magnetic field disturbance can be determined, it is possible to accurately detect a valid azimuth angle of the compass. In addition, since an allowable magnetic field range is determined based on a variation of magnetic field detected by a compass rather than a conventional method that simply compares a magnetic field and a geomagnetic field, it is possible to accurately determine the geomagnetic field.

    摘要翻译: 提供了一种使用罗盘确定地磁场的方法和装置,以及使用用于确定地磁场的方法和装置来确定运动物体的方位角的方法和装置。 通过使用罗盘确定地磁场的方法包括定义用于确定有效地磁区域的允许磁场范围; 通过使用罗盘计算地磁场有效性测试区域的磁场强度; 并且如果磁场的大小在允许的磁场范围内,则确定地磁场有效性测试区域是有效的地磁区域,如果不是,则确定施加了外部磁场干扰。 因此,由于可以确定由于外部磁场扰动引起的罗盘的方位角的误差,因此能够精确地检测出罗盘的有效的方位角。 此外,由于根据由罗盘检测的磁场的变化来确定容许磁场范围,而不是简单地比较磁场和地磁场的常规方法,因此可以精确地确定地磁场。

    Apparatus and method of calibrating azimuth of mobile device
    4.
    发明申请
    Apparatus and method of calibrating azimuth of mobile device 有权
    校准移动设备方位的装置和方法

    公开(公告)号:US20050160609A1

    公开(公告)日:2005-07-28

    申请号:US10987305

    申请日:2004-11-15

    IPC分类号: G01C17/38

    CPC分类号: G01C17/38

    摘要: Provided are an apparatus and method of calibrating azimuth of a mobile device. The apparatus includes: a magnetic field measuring unit having a plurality of magnetic sensors aligned in a constant angle interval on the mobile device and measuring magnetic field data indicating magnitudes of a magnetic field in different directions; and a controller generating a calibration table indicating a correspondence between an actual magnetic field trajectory formed by the magnetic field data and a theoretical magnetic field trajectory and calibrating azimuth of the mobile device using the calibration table.

    摘要翻译: 提供了校准移动设备的方位角的装置和方法。 该装置包括:磁场测量单元,具有在移动设备上以恒定角度间隔排列的多个磁传感器,并测量指示不同方向磁场强度的磁场数据; 以及控制器,生成表示由磁场数据形成的实际磁场轨迹与理论磁场轨迹之间的对应关系的校准表,并使用校准表来校准移动设备的方位角。

    Method and apparatus for determining a geomagnetic field by using a compass and method and apparatus for determining an azimuth angle of a moving object using the same
    5.
    发明申请
    Method and apparatus for determining a geomagnetic field by using a compass and method and apparatus for determining an azimuth angle of a moving object using the same 有权
    使用罗盘确定地磁场的方法和装置,以及使用该方法和装置确定运动物体的方位角的方法和装置

    公开(公告)号:US20050183275A1

    公开(公告)日:2005-08-25

    申请号:US11049860

    申请日:2005-02-04

    CPC分类号: G01C17/30 G01C17/38

    摘要: There are provided a method and apparatus for determining a geomagnetic field by using a compass and a method and apparatus for determining an azimuth angle of a moving object using the method and apparatus for determining a geomagnetic field. The method of determining a geomagnetic field by using a compass includes defining an allowable magnetic field range used to determine a valid geomagnetic region; calculating a magnitude of a magnetic field in a geomagnetic-field validity test region by using a compass; and if the magnitude of the magnetic field is within the allowable magnetic field range, determining that the geomagnetic-field validity test region is the valid geomagnetic region, and if not, determining that there is applied an external magnetic field disturbance. Accordingly, since an error of an azimuth angle of the compass due to an external magnetic field disturbance can be determined, it is possible to accurately detect a valid azimuth angle of the compass. In addition, since an allowable magnetic field range is determined based on a variation of magnetic field detected by a compass rather than a conventional method that simply compares a magnetic field and a geomagnetic field, it is possible to accurately determine the geomagnetic field.

    摘要翻译: 提供了一种使用罗盘确定地磁场的方法和装置,以及使用用于确定地磁场的方法和装置来确定运动物体的方位角的方法和装置。 通过使用罗盘确定地磁场的方法包括定义用于确定有效地磁区域的允许磁场范围; 通过使用罗盘计算地磁场有效性测试区域的磁场强度; 并且如果磁场的大小在允许的磁场范围内,则确定地磁场有效性测试区域是有效的地磁区域,如果不是,则确定施加了外部磁场干扰。 因此,由于可以确定由于外部磁场扰动引起的罗盘的方位角的误差,因此能够精确地检测出罗盘的有效的方位角。 此外,由于根据由罗盘检测的磁场的变化来确定容许磁场范围,而不是简单地比较磁场和地磁场的常规方法,因此可以精确地确定地磁场。

    Apparatus and method of calibrating azimuth of mobile device
    6.
    发明申请
    Apparatus and method of calibrating azimuth of mobile device 有权
    校准移动设备方位的装置和方法

    公开(公告)号:US20050155240A1

    公开(公告)日:2005-07-21

    申请号:US10987319

    申请日:2004-11-15

    IPC分类号: G01C17/38

    CPC分类号: G01C17/38

    摘要: Provided are an apparatus and method of calibrating azimuth of a mobile device. The apparatus includes: a motor; a magnetic field measuring unit disposed in the mobile device and measuring magnetic field data indicating magnitudes of a magnetic field in different directions while being rotated by the motor; and a controller driving the motor, generating a calibration table indicating a correspondence between an actual magnetic field trajectory formed by the magnetic field data and a theoretical magnetic field trajectory and calibrating azimuth of the mobile device using the calibration table.

    摘要翻译: 提供了校准移动设备的方位角的装置和方法。 该装置包括:马达; 设置在所述移动设备中的磁场测量单元,并且在由所述电机旋转的同时测量指示不同方向的磁场的大小的磁场数据; 以及驱动所述电动机的控制器,生成表示由所述磁场数据形成的实际磁场轨迹与理论磁场轨迹之间的对应关系的校准表,并使用所述校准表校准所述移动装置的方位角。

    Method and apparatus for generating magnetic field map and method and apparatus for checking pose of mobile body using the magnetic field map
    7.
    发明授权
    Method and apparatus for generating magnetic field map and method and apparatus for checking pose of mobile body using the magnetic field map 有权
    用于产生磁场图的方法和装置以及使用磁场图检查移动体姿势的方法和装置

    公开(公告)号:US07302345B2

    公开(公告)日:2007-11-27

    申请号:US11035742

    申请日:2005-01-18

    IPC分类号: G01V3/38 G01C17/00

    摘要: Provided is a method of generating a magnetic field map including obtaining magnetic field information, the magnetic field information being information on a magnetic field affecting a mobile body, for each position of the mobile body, and building a magnetic field map based on the magnetic field information for each position of the mobile body. The pose of a mobile body can be statistically checked by the probability obtained using the difference between the magnetic field information observed from the magnetic field map and the actually measured magnetic field information. Although the pose of the mobile body is estimated using a camera that is sensitive to an illumination state where the mobile body is placed, the pose of the mobile body can be relatively accurately checked using the magnetic field map obtained in a situation regardless of illumination, with being less affected by the illumination state where the mobile body is placed. Thus, the pose of the mobile body can be checked with reliability.

    摘要翻译: 本发明提供一种生成磁场映射的方法,包括获得磁场信息,磁场信息是关于移动体的每个位置的影响移动体的磁场的信息,以及基于磁场建立磁场图 关于移动体的每个位置的信息。 可以通过使用从磁场映射观察到的磁场信息与实际测量的磁场信息之间的差异获得的概率统计地检查移动体的姿态。 虽然使用对放置移动体的照明状态敏感的照相机来估计移动体的姿态,但是可以使用在不管照明的情况下获得的磁场图来相对精确地检查移动体的姿态, 受到移动体的放置状态的影响较小。 因此,可以可靠地检查移动体的姿势。

    Method of constructing artificial mark for autonomous driving, apparatus and method of determining position of intelligent system using artificial mark and intelligent system employing the same
    8.
    发明授权
    Method of constructing artificial mark for autonomous driving, apparatus and method of determining position of intelligent system using artificial mark and intelligent system employing the same 有权
    建立自主驾驶人造标记的方法,使用人造标记确定智能系统位置的装置和方法,以及使用人造标记的智能系统

    公开(公告)号:US08229619B2

    公开(公告)日:2012-07-24

    申请号:US12208096

    申请日:2008-09-10

    IPC分类号: G01C22/00 G05D1/00

    CPC分类号: G05D1/0234

    摘要: A method of controlling an intelligent system using an artificial mark and method for employing the same. The intelligent system includes: an image pickup unit which obtains an image taken for a driving place; a main control unit which calculates a projective invariant of an artificial mark detected from an image taken for a driving place and analyzes the position of the intelligent system using global location information of the detected artificial mark in the driving place obtained by the calculated projective invariant and location information between the intelligent system and the detected artificial mark; and a driving control unit which controls driving of the intelligent system according to the position information of the intelligent system analyzed in the main control unit.

    摘要翻译: 一种使用人造标记来控制智能系统的方法及其应用方法。 智能系统包括:摄像单元,获取驾驶场所拍摄的图像; 主控制单元,其计算从驾驶场所拍摄的图像中检测出的人造标记的投影不变性,并使用由所计算的投影不变量获得的驾驶地点中的检测到的人造标记的全球位置信息来分析智能系统的位置;以及 智能系统和检测到的人造标记之间的位置信息; 以及驱动控制单元,其根据在主控制单元中分析的智能系统的位置信息来控制智能系统的驱动。

    Motion estimation method and system for mobile body
    9.
    发明授权
    Motion estimation method and system for mobile body 有权
    移动体运动估计方法及系统

    公开(公告)号:US07543392B2

    公开(公告)日:2009-06-09

    申请号:US10982909

    申请日:2004-11-08

    IPC分类号: G01C19/00 G01C25/00

    CPC分类号: G01C17/38 G01C21/08

    摘要: A motion estimation method and system for a mobile body are provided. The method includes: obtaining magnetic field information from compass information of the mobile body; comparing the magnetic field of the mobile body with a predetermined value and determining whether a position of the mobile body belongs to a specific region according to the comparison result; and estimating a direction of the mobile body by determining whether a compass azimuth angle is used for direction estimation of the mobile body according to the determination result. The system, in which a gyro, odometers, and compasses are installed, comprises: a magnetic field calculator calculating the magnitudes of magnetic fields of the mobile body; a magnetic field comparator obtaining differences between the magnitudes of the magnetic fields and the magnitude of the geomagnetic field and comparing the differences with the first threshold value; a geomagnetic region determiner determining whether a position where the mobile body exists belongs to a region where the geomagnetism works according to the comparison result; and a moving direction estimator estimating a moving direction of the mobile body by determining whether or not to use azimuth angles of the compasses for direction estimation of the mobile body according to the determination result.

    摘要翻译: 提供了一种用于移动体的运动估计方法和系统。 该方法包括:从移动体的罗盘信息获取磁场信息; 将移动体的磁场与预定值进行比较,并根据比较结果确定移动体的位置是否属于特定区域; 以及通过根据确定结果确定罗盘方位角是否用于移动体的方向估计来估计移动体的方向。 其中安装有陀螺仪,里程表和罗盘的系统包括:计算移动体的磁场大小的磁场计算器; 磁场比较器获得磁场的大小和地磁场的大小之间的差异,并将差值与第一阈值进行比较; 确定移动体存在的位置是否属于地磁作用的区域根据比较结果的地磁区域确定器; 以及移动方向估计器,通过根据确定结果确定是否使用罗盘的方位角来进行方向估计,来估计移动体的移动方向。

    Method and apparatus for detecting free fall of electronic device
    10.
    发明申请
    Method and apparatus for detecting free fall of electronic device 有权
    用于检测电子设备自由落体的方法和装置

    公开(公告)号:US20060070439A1

    公开(公告)日:2006-04-06

    申请号:US11236595

    申请日:2005-09-28

    IPC分类号: G01P15/00

    摘要: A method and apparatus for detecting a free fall of an electronic device. The method includes: sensing a falling acceleration of the electronic device using an acceleration sensor; determining whether the sensed falling acceleration is less than a predetermined threshold; when the sensed falling acceleration is less than the predetermined threshold, determining whether the falling acceleration is a statistical constant, which has a statistical significance, and is maintained for a predetermined time; and when the falling acceleration is a statistical constant and maintained for a predetermined time, determining that the electronic device falls freely. Accordingly, it is possible to exactly detect a free fall of an electronic device, irrespective of an error of the acceleration of gravity generated when a falling acceleration of the electronic device is measured, due to ambient conditions, e.g., a temperature change and a rotation acceleration generated when the electronic device rotates.

    摘要翻译: 一种用于检测电子设备的自由落体的方法和装置。 该方法包括:使用加速度传感器感测电子装置的下降加速度; 确定所感测的下降加速度是否小于预定阈值; 当感测到的下降加速度小于预定阈值时,确定下降加速度是否具有统计意义的统计常数,并保持预定时间; 并且当下降加速度是统计常数并保持预定时间时,确定电子设备自由落下。 因此,可以精确地检测电子设备的自由落体,而不管由于环境条件(例如温度变化和旋转)而测量电子设备的下降加速度时产生的重力加速度的误差 当电子设备旋转时产生的加速度。