公开(公告)号：US10060743B2

公开(公告)日：2018-08-28

申请号：US15219993

申请日：2016-07-26

申请人： Haechitech Corporation

发明人： Dong Yoon Kim ,  Byung Ki Kim ,  Seung Hwan Park ,  Hyung Sik Shin ,  Kyoung Suck Ki ,  Jo An Na ,  Young Joon Kim ,  Yeon Soo Choi

IPC分类号： G01C19/00 ,  G01C25/00 ,  G01D18/00 ,  G01F25/00 ,  G06F19/00 ,  G01C17/38

CPC分类号： G01C17/38

摘要： A method of correcting an output value of a geomagnetic sensor that recursively calculates a state estimate, an estimate gain vector, and an estimate error co-variance based on the output value of the geomagnetic sensor that is acquired sequentially and corrects the output value of the geomagnetic sensor based on the value includes acquiring a kth output value of the geomagnetic sensor, calculating a kth estimate gain vector based on a k−1th estimate error co-variance and the kth output value, calculating a kth state estimate based on the calculated kth estimate gain vector and the kth output value and a k−1th state estimate, calculating the kth estimate error co-variance using the kth estimate gain vector and a k−1th estimate error co-variance, and correcting the output value of the geomagnetic sensor based on the kth state estimate, wherein k is a natural number larger than 1.