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EP0373317A2
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EP
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Device and method for determining errors in the data of a magnetic direction sensor
Assignee: Sumitomo Electric Industries Ltd
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Filing: 1989-10-11
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Granted: —
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Expires: 2009-10-11
Abstract
Abstract In a locator for location and direction detections of moving bodies which employs, in the direction detection, a magnetic direction sensor (1) for outputting direction data (A(t)) and a gyro (2) for outputting angular speed data (w(t)), the locator for location and direction detections of moving bodies comprising normal judgement means (6, 7, 8) for said magnetic direction sensor (1) which compares a direction variation quantity (A(T2) - A(T1)) within an assigned time (t2) which is obtained from the difference of the direction data (A(t)) of the magnetic direction sensor (1), and an angle variation quantity within the assigned time (t2) which is obtained from an integral value of the angular speed data (w(t) of the gyro (2), and in the case that the difference between the compared quantities is over a first predetermined value (C1), judges that an error has occurred in the direction data (A(t)) of the magnetic direction sensor (1). After judgement of an occurrence of the error and when the difference between the direction variation quantity (A(T2) - A(T1)) and the angle variation quantity is below a second predetermined value (C2), it is judged that the direction data (A(t)) of the magnetic direction sensor (1) has returned to normalcy.
Inventors
- 👤 Akihiro Osaka Works Of Sumitomo Ooka
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-04 07:45
CPC Classifications
G; G01; G01C; G01C21/00; G01C21/26; G01C21/28
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
197 words
A Locator for location and direction detections of moving bodies which employs, in the direction detection, a magnetic direction sensor (1) for outputting direction data [A(t)] and a gyro (2) for outputting angular speed data [w(t)], characterized by normal judgement means (6,7,8) for said magnetic direction sensor which: - compares a direction variation quantity [A(T2)-A(T1)] within an assigned time (t2) which is obtained from the difference of said direction data [A(t)] of said magnetic direction sensor (1), and an angle variation quantity [∫ T2 T1 w(t)dt] within said assigned time (t2) which is obtained from an integral value of said angular speed data [w(t)] of said gyro (2), and in the case that the difference between the compared quantities is over a first predetermined value (C1), judges that an error has occurred in said direction data [A(t)] of said magnetic direction sensor (1); and - after judgement of an occurrence of said error and when said difference between said direction variation quantity [A(T2) - A(T1)] and said angle variation quantity [∫ T2 T1 w(t)dt] is below a second predetermined value (C2), judges that said direction data [A(t)] of said magnetic direction sensor (1) has returned to normalcy.
Claim 2
Dependent Claim
197 words
A Locator for location and direction detections of moving bodies which employs, in the direction detection, a magnetic direction sensor (1) for outputting direction data [A(t)] and a gyro (2) for outputting angular speed data [w(t)], characterized by normal judgement means (6,7,8) for said magnetic direction sensor which: - compares a direction variation quantity [A(T2)-A(T1)] within an assigned time (t2) which is obtained from the difference of said direction data [A(t)] of said magnetic direction sensor (1), and an angle variation quantity [∫ T2 T1 w(t)dt] within said assigned time (t2) which is obtained from an integral value of said angular speed data [w(t)] of said gyro (2), and in the case that the difference between the compared quantities is over a first predetermined value (C1), judges that an error has occurred in said direction data [A(t)] of said magnetic direction sensor (1); and - after judgement of an occurrence of said error and when said difference between said direction variation quantity [A(T2) - A(T1)] and said angle variation quantity [∫ T2 T1 w(t)dt] is below a second predetermined value (C2), judges that said direction data [A(t)] of said magnetic direction sensor (1) has returned to normalcy.
Claim 3
Dependent Claim
65 words
A locator for location and direction detections of moving bodies as set forth in claim 1, wherein, when an absolute value of said angular speed data [w(t)] of said gyro (2) within said assigned time (t2) exceeds a third predetermined value (C3), said normal judgement means (6,7,8) judges whether said direction data [A(t)] of said magnetic direction sensor (1) has returned to normalcy or not.
Claim 4
Dependent Claim
75 words
A locator for location and direction detections of moving bodies of claim 1 or 2, wherein, when an absolute value of said angle variation quantity [∫ T2 T1 w(t)dt] within said assigned time (t2) exceeds a fourth predetermined value (C4) and also said assigned time (t2) is below a predetermined time (T), said normal judgement means (6,7,8) judges whether said direction data [A(t)] of said magnetic direction sensor (1) has returned to normalcy or not.
Claim 5
Dependent Claim
85 words
A locator for location and direction detections of moving bodies of claim 2 or 3, wherein said assigned time (t2) comprises first and second periods (t1,t1′) wherein absolute values of said angular speed data [w(t)] of said gyro (2) are below a fifth predetermined value (w2), and a third period between said first and second periods (t1,t1′) wherein an absolute value of said angular speed data [w(t)] of said gyro (2) is above a sixth predetermined value (w1) greater than said fifth predetermined value (w2).
Claim 6
Dependent Claim
87 words
A locator tor location and direction detections of moving bodies of any preceding claim, wherein instead of said direction variation quantity [A(T2) - A(T1)] within said assigned time (t2), the difference between an average value of said direction data [A(t)] of said magnetic direction sensor (1) during said first period (t1) and an average value of said direction data [A(t)] of said magnetic direction sensor (1) during said second period (t1′) is compared with said angle variation quantity [∫ T2 T1 w(t)dt] within said assigned time (t2).
Claim 7
Independent Claim
188 words
A method for detecting a location and direction of moving bodies on the basis of direction data [A(d)] outputted by a magnetic direction sensor (1) and angular speed data [w(t)] outputted by a gyro (2) characterized by - comparing a direction variation quantity [A(T2)] - [A(T1)] within an assigned time (t2) which is obtained from the difference of said direction data [A(t)] of said magnetic direction sensor (1), and an angle variation quantity [∫ T2 T1 w(t)dt] within said assigned time (t2) which is obtained from an integral value of said angular speed data [w(t)] of said gyro (2), and in the case that the difference between the compared quantities is over a first predetermined value (C1), judges that an error has occurred in said direction data [A(t)] of said magnetic direction sensor (1); and - judging after detection of an occurence of said error and when said difference between said direction variation quantity [A(T2) - A(T1)] and said angle variation quantity [∫ T2 T1 w(t)dt] is below a second predetermined value (C2), that said direction data [A(t)] of said magnetic direction sensor (1) has returned to normalcy.
Claim 8
Independent Claim
188 words
A method for detecting a location and direction of moving bodies on the basis of direction data [A(d)] outputted by a magnetic direction sensor (1) and angular speed data [w(t)] outputted by a gyro (2) characterized by - comparing a direction variation quantity [A(T2)] - [A(T1)] within an assigned time (t2) which is obtained from the difference of said direction data [A(t)] of said magnetic direction sensor (1), and an angle variation quantity [∫ T2 T1 w(t)dt] within said assigned time (t2) which is obtained from an integral value of said angular speed data [w(t)] of said gyro (2), and in the case that the difference between the compared quantities is over a first predetermined value (C1), judges that an error has occurred in said direction data [A(t)] of said magnetic direction sensor (1); and - judging after detection of an occurence of said error and when said difference between said direction variation quantity [A(T2) - A(T1)] and said angle variation quantity [∫ T2 T1 w(t)dt] is below a second predetermined value (C2), that said direction data [A(t)] of said magnetic direction sensor (1) has returned to normalcy.
Claim 9
Dependent Claim
51 words
A method of claim 6, further characterized by judging, when an absolute value of said angular speed data [w(t)] of said gyro (2) within said assigned time (t2) exceeds a third predetermined value (C3), whether said direction data [A(t)] of said magnetic direction sensor (1) has returned to normalcy or not.
Claim 10
Dependent Claim
64 words
A method of claim 6 or 7, further characterized by judging, when an absolute value of said angle variation quantity [∫ T2 T1 w(t)dt] within said assigned time (t2) exceeds a fourth predetermined value (C4) and also said assigned time (t2) is below a predetermined time (T), whether said direction data [A(t)] of said magnetic direction sensor (1) has returned to normalcy or not.
Claim 11
Dependent Claim
77 words
A method of claim 7 or 8, wherein said assigned time (t2) comprises first and second periods (t1,t1′) wherein absolute values of said angular speed data [w(t)] of said gyro (2) are below a fifth predetermined value (w2), and a third period between said first and second periods (t1,t1′) wherein an absolute value of said angular speed data [w(t)] of said gyro (2) is above a sixth predetermined value (w1) greater than said fifth predetermined value (w2).
Claim 12
Independent Claim
82 words
A method of any of claims 5 to 9, wherein instead of said direction variation quantity [A(T2) - A(T1)] within said assigned time (t2), the difference between an average value of said direction data [A(t)] of said magnetic direction sensor (1) during said first period (t1) and an average value of said direction data [A(t)] of said magnetic direction sensor (1) during said second period (t1′) is compared with said angle variation quantity [∫ T2 T1 w(t)dt] within said assigned time (t2).
References Cited (Backward Citations)
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