公开(公告)号：EP3139128B1

公开(公告)日：2019-05-01

申请号：EP16161413.6

申请日：2016-03-21

Applicant: STMicroelectronics S.r.l.

Inventor： BASSOLI, Rossella ,  CRIPPA, Carlo

IPC: G01C17/38 ,  G01R33/00 ,  G01R35/00

公开(公告)号：EP3139128A1

公开(公告)日：2017-03-08

申请号：EP16161413.6

申请日：2016-03-21

Applicant: STMicroelectronics S.r.l.

Inventor： BASSOLI, Rossella ,  CRIPPA, Carlo

IPC: G01C17/38 ,  G01R33/00 ,  G01R35/00

CPC classification number: G01R33/0035 ,  G01C17/38 ,  G01R35/00

Abstract: Calibrated sensing signal components ( X cal , Y ca / , Z cal ) represented in a three-dimensional coordinate system (X, Y, Z) by a spherical graph (S) centered at the origin (O) the three-dimensional coordinate system (X, Y, Z) are generated from uncalibrated signal components ( X unc , Y unc , Z unc ) from a magnetic field sensing device, e.g. a magnetometer (M), represented in the three-dimensional coordinate system (X, Y, Z) by an ellipsoidal graph (E) having a center (CE) offset with respect to the origin (O). Kalman filter processing (104) is applied to the sensing signal components yielding a set of parameters (X(8:0)) fitting the ellipsoidal graph (E) by prediction and correction based on prediction. The set of parameters (X(8:0)) fitting the ellipsoidal graph (E) as obtained from Kalman filter processing (104) are processed by:
- a) translating the center (CE) of the ellipsoidal graph (E) towards the origin (O) of the three-dimensional coordinate system (X, Y, Z),
- b) rotating the ellipsoidal graph (E) to align the axes thereof with the sensing device (M) axes,
- c) scaling the ellipsoidal graph (E) to a sphere (S), and
- d) back-rotating the sphere (S) resulting from scaling to the orientation of the ellipsoidal graph (E) before rotation.

Abstract translation: 通过以原点（O）为中心的球面图（S）在三维坐标系（X，Y，Z）中表示的校准的感测信号分量（X cal，Y ca /​​，Z cal） （X，Y，Z）由未校准的信号分量（X unc，Y unc，Z unc））从磁场感测装置产生，例如 通过具有相对于原点（O）偏移的中心（CE）的椭圆图（E）在三维坐标系（X，Y，Z）中表示的磁力计（M）。 通过基于预测的预测和校正，将卡尔曼滤波处理（104）应用于产生拟合椭圆图（E）的一组参数（X（8：0））的感测信号分量。 从卡尔曼滤波处理（104）获得的拟合椭圆图（E）的参数集合（X（8：0））通过以下步骤来处理：a）将椭圆图（E）的中心（CE） 三维坐标系（X，Y，Z）的原点（O）， - b）旋转椭圆图（E）以使其轴与感测装置（M）轴对齐，c）缩放椭圆图 （E）到球体（S），以及 - d）在旋转之前将由缩放产生的球体（S）反向旋转到椭圆图（E）的取向。