WO2012159804A1

WO2012159804A1 - Magnetic sensor device and method for establishing an item of information relating to a magnetic field strength component in the direction of at least one spatially fixed spatial axis

Info

Publication number: WO2012159804A1
Application number: PCT/EP2012/055702
Authority: WO
Inventors: Stefan Weiss; Daniel Schifferdecker; Julian Bartholomeyczik; Sergej Scheiermann
Original assignee: Robert Bosch Gmbh
Priority date: 2011-05-24
Filing date: 2012-03-29
Publication date: 2012-11-29
Also published as: DE102011076337A1

Abstract

The invention relates to a magnetic sensor device with a spatial position measurement apparatus for establishing an item of spatial position information (φ, Φ), relating to a measurement axis fixed with respect to the sensor, in respect of at least one spatially fixed spatial axis, a magnetic measurement apparatus for establishing at least one magnetic field strength variable in the direction of the at least one measurement axis fixed with respect to the sensor, and an evaluation apparatus for determining an item of information relating to a magnetic field strength component in the direction of at least one spatially fixed spatial axis taking into account the item of spatial position information (φ, Φ) and the at least one magnetic field strength variable, said evaluation apparatus additionally comprising a control apparatus for determining at least one intended measurement-quality variable (CBX, CBY, CBZ) of the at least one magnetic field strength variable taking into account the item of spatial position information (φ, Φ) and appropriate actuation of the magnetic measurement apparatus. Moreover, the invention relates to a method for establishing an item of information relating to a magnetic field strength component in the direction of at least one spatially fixed spatial axis.

Description

Description title

Magnetic sensor device and method for determining information relating to a magnetic field strength component in the direction of at least one stationary location axis

The invention relates to a magnetic sensor device. Furthermore, the invention relates to a method for determining information relating to a magnetic

Field strength component in the direction of at least one stationary location axis.

State of the art

In DE 10 2007 024 866 A1 an inductive magnetic sensor is described, which is freely adjustable in space. For the determination of a spatial distribution of a

magnetic field strength of a magnetic field with respect to a stationary

Coordinate system is often determined in such a freely movable magnetic sensor also its position in relation to the fixed coordinate system, or a position of its three measuring axes with respect to the fixed coordinate system. Taking into account the determined position of the magnetic measuring device, or the determined position of the three measuring axes, one for a

Coordinate system of the three measuring axes by means of the magnetic measuring device specific magnetic field distribution in the distribution of the magnetic field strength in the fixed coordinate system to be converted.

Disclosure of the invention

The invention provides a magnetic sensor device having the features of claim 1, a compass device having the features of claim 7, a method for determining information regarding a magnetic field strength component in the direction of at least one stationary axis with the features of claim 8 and a method for setting at least one Cardinal direction with the features of claim 10. Advantages of the invention

The present invention enables a reduction of a

Measurement accuracy requirement for the determination of the magnetic field strength magnitude in the direction of at least one fixed to the sensor measurement axis below

Consideration of the orientation of the at least one measuring axis. In this case, the accuracy requirement can be significantly reduced, or the determination / measurement of the magnetic intensity quantity in the direction of this measuring axis can be omitted if necessary. In this way, the power consumption during the determination / measurement of the magnetic field strength quantity in the direction of the specific measuring axis can be significantly reduced. This is especially true in a mobile magnetic sensor device, such as a

Magnetic sensor device as a subunit of a mobile consumer electronic device, advantageous.

Due to the reducible power consumption of the magnetic measuring device, the magnetic sensor device can be equipped with a battery having a reduced battery capacity. Thus, the magnetic sensor device is cheaper and / or less executable.

The present invention, in particular over a conventional magnetic field determination in three spatial axes with constant quality of measurement ensures the advantage of reducing power consumption. Compared to a conventional one

Two-dimensional magnetic field determination using only two fixed / constant predetermined measuring axes is described by means of the below

technology of the invention achieves greater accuracy of the determined magnetic field distribution with (almost) the same energy consumption.

A conventional three-axis magnetic field measurement with a constant quality of measurement has with respect to the magnetic sensor device according to the invention and the

corresponding procedures a (significantly) higher energy consumption. If, instead of the conventional three-axis magnetic field measurement with constant measurement quality, only a conventional two-axis magnetic field measurement is carried out with constant quality of measurement, then significant occur at large roll and pitch angles

Inaccuracy on the result determined. This disadvantage is by means of

Magnetic sensor device according to the invention and the corresponding method circumventable because they do not measure the measurement axis unless it is unfavorably aligned.

The present invention is particularly suitable for use in one

position compensated compass.

BRIEF DESCRIPTION OF THE DRAWINGS Further features and advantages of the present invention are explained below with reference to the figures. Show it:

Fig. 1 is a schematic representation of an embodiment of the

Magnetic sensor device;

FIG. 2 is a flow chart illustrating a first embodiment of the present invention

process; and

3 is a flow chart illustrating a second embodiment of the method.

Embodiments of the invention

Fig. 1 shows a schematic representation of an embodiment of

Magnetic sensor device.

The magnetic sensor device shown schematically in FIG. 1 has a

Space-measuring device 10 on. The spatial position measuring device 10 is designed to determine a spatial position information with respect to an alignment of at least one sensor axis predetermined measuring axis of the magnetic sensor device with respect to at least one stationary spatial axis. The at least one sensor axis which is the most sensor-resistant / sensor-fixed can be understood to mean a direction fixed / unconfigurable in relation to the magnetic sensor device. In particular, it can be understood that the alignment of the at least one sensor-strong measuring axis to the magnetic sensor device remains constant even when the magnetic sensor device is rotated about at least one axis of rotation, while the orientation of the at least a sensor-strong measuring axis to the at least one stationary spatial axis / for an external viewer by means of rotation of the magnetic sensor device is changeable.

Accordingly, under the at least one stationary spatial axis a

Be understood direction / axis, which is independent of one

Location / position / orientation of the magnetic sensor device in space is. The at least one stationary spatial axis can in particular be the gravitational axis.

Preferably, the spatial position measuring device 10 is designed to determine the spatial position information with respect to an alignment of the at least one sensor-measuring axis of the magnetic sensor device with respect to a stationary coordinate system with two or three axes as the at least one stationary spatial axis.

For example, one of the axes of the fixed coordinate system may be aligned parallel to / corresponding to the axis of gravity. The training of

However, space-position measuring device 10 is not such a stationary

Coordinate system limited.

The spatial position measuring device 10 can be designed, for example, as the spatial position information, a pitch angle and / or a roll angle of a sensor coordinate coordinate system with an x-measuring axis, a y-measuring axis and a z-measuring axis as the at least one sensor-sensor axis with respect to a stationary coordinate system comprising the gravitational axis (earth coordinate system) to be determined as the at least one stationary spatial axis. The

However, the space-position measuring device 10 is not limited to determining the pitch angle and / or the roll angle as spatial position information. As an alternative or in addition to at least one of the angles mentioned here, a size other than

Space position information can be determined by means of the spatial position measuring device 10.

The space-position measuring device 10 may, for example, a

Include acceleration sensor device. In particular, the

Space-measuring device 10 a three-axis / three-channel

Have / be acceleration sensor device. By means of a triaxial

Acceleration sensor device is an orientation / orientation of

Magnetic sensor device, or the at least one sensor-sensing measuring axis of the magnetic sensor device relative to a fixed coordinate system with the gravitational axis (Earth coordinate system), eg as (negative) z-axis, reliable fixable. However, the space-position measuring device 10 is not on an equipment with an acceleration sensor device or on a particular embodiment of the

Accelerometer sensor device limited. The magnetic sensor device also has a magnetic measuring device 12 which is designed to have at least one magnetic field strength quantity with respect to one

Field strength component of a magnetic field in an environment of

Magnetic sensor device to determine. In this case, the magnetic measuring device 12 determines at least one magnetic field strength quantity in terms of size

Magnetic field strength component in the direction of the at least one sensor-strong measuring axis. The magnetic measuring device 12 may, for example, as a triaxial

Magnetic measuring device may be formed, whereby in particular three magnetic field strength magnitudes can be reliably determined / measured as field strength components of the magnetic field with respect to the x-measuring axis, the y-measuring axis and the z-measuring axis. In an advantageous embodiment, the magnetic measuring device 12 has three subunits 12x, 12y and 12z, each for determining the magnetic field strength magnitude with respect to the field strength component in the direction of a sensor-fixed predetermined

Measuring axis are designed, the measuring axes of the three subunits 12x, 12y and 12z give the most sensitive coordinate system. However, the magnetic measuring device 12 used in the magnetic sensor device is not limited to such a configuration.

In addition, the magnetic sensor device has a control device 14, to which a spatial position information signal 16 with the spatial position information determined by the spatial position measuring device 10 can be provided. The control device 16 is designed to determine, taking into account the spatial position information, at least one nominal measured quantity of the at least one magnetic field strength quantity. In addition, the control device 14 is designed to output to the magnetic measuring device 12 a control signal 18 corresponding to the at least one predetermined target measured quantity. The magnetic measuring device 12 can be controlled by means of the control signal 18 in such a way that the at least one magnetic field strength quantity can be determined in accordance with the at least one specified target measured quantity.

Even if a conventional model for the magnetic measuring device 12 is used, its energy consumption when determining the at least one magnetic field intensity quantity is generally dependent on the at least one desired sample size. There at However, a conventional magnetic sensor, the fixed at least one target material size, such as a measurement accuracy and / or a signal quality, but the energy consumption of the conventional magnetic sensor is not variable / optimized.

In contrast, the magnetic sensor device described here (even with the use of a conventional model for the magnetic measuring device 12) offers the possibility of optimizing the at least one target sample size in consideration of the spatial position information / the spatial information signal 16.

Preferably, the control device 14 is adapted to the target measured size of a sensor-strong measuring axis taking into account a derived from the spatial position information / spatial information signal 16 deviation of the sensor-sensing axis of a preferred orientation, a fixed axis and / or a stationary plane set. This can also be described in such a way that the control device 14 of the at least one sensor-measuring axis under

Considering the spatial position information / the spatial position information signal 16 assigns a specific meaning / relevance, and determines the at least one target Maßgügrößengröße accordingly. With an assignment of a low significance / relevance for a measuring axis, the current consumption of the magnetic measuring device 12 can be reduced by determining a reduction in the nominal measured value of this measuring axis when determining the magnetic field strength in the direction of this measuring axis. Similarly, when assigning a low importance / relevance to a measurement axis by setting a comparatively high / good target measurement size of this measurement axis is a reliable

Determining the magnetic field strength size in the direction of this measuring axis effected. By means of setting the target measured size, taking into account the spatial position information / spatial information signal 16 and a corresponding

Driving the magnetic measuring device 12 is thus the energy consumption of

Magnetic measuring device 12 when determining the at least one magnetic field strength size optimized, while ensuring that a magnetic field strength magnitude in the direction of an advantageous oriented measuring axis with a comparatively high / good quality measurement can be determined. In particular, the control device 14 may be designed in this way for magnetic field strength quantities in the direction of different sensor-measuring axes to set different target sample sizes. If, due to the orientation of a measuring axis, a high / good quality of measurement is not necessary when determining the associated magnetic field strength quantity, the energy consumption can be reduced by determining the associated nominal size of the measured quantity when determining this magnetic field strength quantity. At the same time, when determining another magnetic field strength quantity in the direction of a further measuring axis, which currently lies in such a way that a high / good measuring quality remains

Determining the other magnetic field strength magnitude is desirable to ensure reliable determination of the other magnetic field strength magnitude. Thus, the energy consumed in determining the magnetic field strength quantities can be determined in terms of

varying importance of different measuring axes can be optimized.

In an advantageous development, the control device 20 is additionally designed as an x-target measured quantity of a magnetic field strength magnitude of a field strength component in the direction of the x-measuring axis proportional to a cosine of the pitch angle, a y-target value as the at least one target measured quantity.

Sample size of a magnetic field strength quantity of a field strength component in

Direction of the y measuring axis proportional to a maximum of a sine of the

Roll angle and a product of a sine of the pitch angle and the sine of the

Rolling angle and / or a z-target measured size of a magnetic field strength magnitude of a field strength component in the direction of the z-measuring axis proportional to a

Maximum of the sine of the roll angle and a product of the sine of the

Pitch angle and a cosine of the roll angle. The set target sizes that can be set in this way thus correspond to the orientations of the

Sensor-strong measuring axes with regard to the position of the measuring axes in the room. As will be explained below, in this case there are no additional calculation steps for

Specifying the set target sizes. Further advantageous

Procedures for specifying the at least one target sample size

will be described below. The control device 14 can be designed, for example, to have at least one setpoint measuring time for determining the at least one magnetic field strength variable,

at least one desired energization duration for determining the at least one

Magnetic field strength magnitude, and / or at least one desired current strength of a

during the determination of the at least one magnetic field strength quantity

provided stream as the at least one target sample size set.

In particular, the control signal 18 may be three supply current signals 18x, 18y and 18z, which are respectively connected to a subunit 12x, 12y and 12z of

Magnetic measuring device 12 are available. The feasibility of the

However, controller 14 is not limited to this example. Furthermore, the magnetic sensor device has an evaluation device 20, to which a sensor signal 22 with the at least one determined magnetic field strength quantity from the magnetic measuring device 12 and the spatial position information signal 16 from the spatial position measuring device 10 can be provided. The evaluation device 20 is designed, taking into account the spatial position information and the at least one magnetic field strength magnitude information with respect to a magnetic

Field strength component in the direction of at least one with respect to the at least one stationary spatial axis constantly aligned (stationary) location axis set.

Preferably, the at least one location axis may correspond to the at least one (fixed) space axis. In particular, the statements made above on the at least one spatial axis can be applied to the at least one local axis. One

Information signal 24 with the definable information can be output by means of the evaluation device 20. The information signal 24 may, for example, be forwarded to a display device (not shown). In an advantageous development, the evaluation device 20 is designed to take into account the spatial position information and the at least one magnetic field strength quantity a magnetic field strength distribution in a direction perpendicular to the

Gravity direction aligned plane as information and as

Output information signal 24. In this case, the magnetic sensor device is particularly useful for geomagnetic application. Magnetic field components perpendicular to the earth's surface usually contain no relevant geomagnetic information, in particular with respect to the orientation of the individual cardinal directions. To determine a cardinal direction, in particular the north cardinal direction, only the magnetic field components are to be evaluated parallel to the earth's surface. An embodiment of the evaluation device 20 for setting a magnetic

Field strength distribution only in a direction perpendicular to the gravitational direction

aligned plane thus allows a simplified and faster executable determination of cardinal directions and is therefore advantageous. However, the insertion of the magnetic sensor device is not limited to geomagnetic use. Since the power consumption preferably only when determining at least one magnetic field strength magnitude for a measuring axis of less (current)

Significance / meaning is reduced, it is not associated with a deterioration of a signal-to-noise quality of the information determined taking into account the spatial position information and the at least one magnetic field strength magnitude. This is advantageous for many applications of the magnetic sensor device.

The control device 14 and the evaluation device 20 are not limited to a separate training. For example, the functions of the devices 14 and 20 can also be implemented in a common processor device 26 / logic, which performs both the position compensation and the setting of the at least one target sample size. Such implementations in a control software on a processor, by means of which the devices 10 and 12 are controllable and / or evaluable, are easily executable.

Due to the optimization of their energy consumption, the magnetic sensor device with a cost-effective and / or little space required

Energy storage device, such as a battery, be equipped.

In addition, no frequent recharging of the energy storage device is required despite a comparatively high use of the magnetic sensor device.

In an advantageous development, the magnetic sensor device is part of a

Compass device. In this case, the compass device can be a

Cardio-directional fixing device, which is designed to include under

Considering the information output from the magnetic sensor device information to set and display at least one direction. In this way, a position compensated compass can be realized. By means of the information can from the

measured three-dimensional magnetic field, preferably from the

Magnetic field components parallel to the earth's surface, the north direction (the so-called heading) are determined. As for the determination of the heading only the

Magnetic field components are to be evaluated parallel to the earth's surface, the energy for (accurate) measuring the magnetic field component perpendicular to the earth's surface can be saved by means of the magnetic sensor device described here. The magnetic sensor device may also be configured to carry out the method steps described below. With regard to further functions of the magnetic sensor device, reference is therefore made to the following methods. FIG. 2 shows a flowchart for illustrating a first embodiment of the method.

The method shown schematically in FIG. 2 can be carried out, for example, by means of the magnetic sensor device described above. However, the practicability of the method is not limited to the use of such a magnetic sensor device.

In a method step S1, a spatial position information relating to a

Alignment of at least one measuring device fixed predetermined measuring axis of a magnetic measuring device with respect to at least one with respect to the at least one local axis constantly aligned stationary spatial axis determined. Examples of the at least one measuring device fixed predetermined / measuring device fixed measuring axis and the at least one fixed predetermined / fixed spatial axis are already described above. Preferably, the at least one stationary spatial axis can correspond to the at least one location axis.

In this case, a magnetic sensor which is designed to determine a magnetic field strength quantity with respect to (at least) one field strength component of a magnetic field in its (outer) environment in the direction of the at least one measuring device fixed measuring axis can be used as the magnetic measuring device.

For example, the magnetic measuring device can be a three-axis

Be magnetic measuring device.

In an advantageous embodiment of the method, a pitch angle and / or a roll angle of a sensor-resistant are predetermined in method step S1

Coordinate system with an x-measuring axis, a y-measuring axis and a z-measuring axis as the at least one measuring device fixed measuring axis with respect to a fixed coordinate system determined as spatial position information. The stationary coordinate system preferably has at least one axis equal to the axis of gravity. By means of at least one of these angles can be described below

Execute method particularly advantageous. In a subsequent method step S2, taking into account the ascertained spatial position information, at least one desired measured-product quantity is at least one in the

Further to be determined / determined magnetic field strength size in the direction of at least one measuring device fixed measuring axis. In particular, different desired measured-product variables can be defined for different measuring axes of the magnetic measuring device. As will be described in more detail below, the desired measured-product size of a specific measuring axis can be determined in particular such that the desired measured-product size is increased if the relevant measuring axis is oriented in the direction of at least one (predetermined) stationary preferred direction and / or in one of two ( predetermined) fixed preferred directions spanned plane lies. Accordingly, the target measurement size can be reduced if the associated measuring axis is aligned at a large intermediate angle / inclination angle inclined to the at least one stationary preferred direction and / or by a large

Intermediate angle / inclination angle inclined to a plane spanned by two fixed preferred directions plane is aligned. The target measured size may decrease steadily, in particular as the at least one intermediate angle increases. Preferably, at an intermediate angle of 90 °, the target Maßgüektröße for the relevant

Measuring axis have a minimum value, in particular zero.

For example, in the method step S2, as at least one target sample size an x target sample size of a magnetic field strength quantity of a

Field strength component are set in the direction of the x-measuring axis proportional to a cosine of the pitch angle. The cosine of the pitch angle is a variable which ensures that, in the case of an advantageous alignment of the x-measuring axis, the associated magnetic field strength quantity is determined with a good desired measured-product size.

In contrast, in a disadvantageous alignment of the x-measuring axis by the Vorgage the target Maßgü either size proportional to the cosine of the pitch angle prevents that too high energy consumption for determining a barely relevant magnetic field strength size is to be feared. Also, a y target measured quantity of a magnetic field strength quantity of a field strength component in the direction of the y measuring axis may be proportional to a sine of the roll angle, a product of a sine of the pitch angle and the sine of the roll angle or a maximum of the sine of the roll angle and the product of the roll angle Sine of the pitch angle and the sine of the roll angle are set. This ensures that an amount of energy which is proportional is consumed for determining the magnetic field strength quantity in the direction of the y measuring axis to the relevance of the orientation of the y measuring axis. Further, a z-target measured quantity of a magnetic field strength quantity of a field strength component in the direction of the z-measuring axis in the step S2 may be proportional to the sine of the roll angle, a product of the sine of the pitch angle and a cosine of the roll angle or a maximum of the sine of the Rolling angle and the product of the sine of the pitch angle and the cosine of the roll angle are set. In an advantageous alignment of the z-measuring axis thus an advantageous quality of the associated magnetic field strength is guaranteed size. At the same time, energy consumption can be reduced if the z-axis is unfavorably aligned. However, the feasibility of the method step S2 is not limited to the listed examples for target sample size. Further advantageous procedures for determining the at least one desired sample size will be described below.

In a further method step S3, the magnetic measuring device is added

controlled, at least one magnetic field strength magnitude with respect to a

Field strength component of a magnetic field in an environment of the magnetic measuring device in the direction of at least one measuring device fixed measuring axis to determine. In this case, the determination of the at least one magnetic field strength quantity takes place in accordance with the at least one specified target measured quantity. After specifying different target sample sizes, the individual measuring axes are set

maintained different setpoints. The at least one determined magnetic field strength quantity can in particular be a magnetic field strength and / or a current strength of a measuring coil. The at least one determined magnetic field strength quantity can also be a variable which can be converted into a magnetic field strength by means of an evaluation. Other quantities can also be determined as the at least one magnetic field strength quantity.

It is also possible to rewrite the method step S3 in such a way that with an alignment of a measuring device-fixed measuring axis with a small measuring axis

Intermediate angle / inclination angle to a stationary preferred axis and / or to one of two (predetermined) fixed preferred directions plane spanned a large / high target Maßgütegröße in determining the associated magnetic field strength size is met. In contrast, a comparatively small desired measured material size is maintained when the measuring device-fixed measuring axis is oriented at a large intermediate angle / angle of inclination to the at least one stationary preferred axis and / or to a plane spanned by two stationary preferred axes. This is associated with the advantage that in a preferred orientation of the measuring axis, the respective magnetic field strength variable is determined reliably and / or with good accuracy, while in alignment of the measuring axis away from the at least one preferred direction and / or the plane spanned by two preferred directions plane the energy consumption is reduced when determining the associated magnetic field strength magnitude.

The method described here ensures the advantage that for a

measuring device fixed measuring axis in a fixed preferred direction and / or in a (preferred) stationary plane a magnetic field strength variable is reliably and / or determined with good accuracy, while no or only a small amount of energy to determine a magnetic field strength magnitude of one of the fixed preferred direction and / or the (preferred) fixed plane away meter fixed measurement axis is consumed. The power consumption of the magnetic measuring device is thus optimized. Because of avoiding unnecessary energy consumption for one

Determining a magnetic field strength quantity of a disadvantageously oriented measuring axis can be used for carrying out the method also an inexpensive and / or little space-consuming energy storage device, such as a cheap / small battery. It also eliminates the need for frequent

Recharging the energy storage device for a frequent execution of the method.

In a method step S4, the information relating to the magnetic

Field strength component in the direction of the at least one stationary location axis

set / output. This takes place taking into account the spatial position information and the at least one (determined / determined) magnetic field strength quantity.

For example, a magnetic field intensity distribution in a plane oriented perpendicular to the gravitational direction can be set as information. However, the executability of the process step S4 is not limited to this example.

In a further development, the method described in the upper paragraph can be used to define at least one cardinal direction. For this purpose, after setting the information in method step S4, an optional method step S5 can be executed. In method step S5, at least one cardinal direction, preferably the north direction / heading, is determined in consideration of the specified information. For carrying out method step S5, it is sufficient if in method step S4 only the magnetic field components are set parallel to the earth's surface / perpendicular to the gravitational axis. However, the method for determining at least one cardinal direction is not limited to such a method step S4.

FIG. 3 shows a flow chart for illustrating a second embodiment of the method.

The method shown schematically in Fig. 3 is carried out to a

Cardinal direction, preferably the north direction / heading to determine. It should be noted here that the feasibility of the described below

Procedural steps, however, is not limited to this purpose. Likewise, the feasibility of the process steps is not based on the use of the above

limited magnetic sensor device described.

In a method step S10, an acceleration measurement is performed. For this purpose, a triaxial acceleration sensor can be used. In this way, the spatial position / orientation / position of a sensor-strong coordinate system relative to the stationary axis of gravity can be reliably determined. This can also be described as a measurement of the spatial position / orientation / position of the gravitational field in relation to the three axes of the acceleration sensor.

Taking into account the spatial position information determined in method step S10, a pitch angle φ and a roll angle φ are produced in a method step S1 1

determined / calculated. With regard to the definition of the pitch angle φ and the roll angle Φ, reference is made to the literature.

In method steps S12 to S14, the setpoint sample sizes are determined for the subsequent magnetic field determination. This can also be described as a determination of the signal components of the individual magnetic sensor axes for a later-performed evaluation / heading calculation. Due to the below-mentioned advantageous values for the target measured material variables, a simplified determination of the magnetic field components perpendicular to the gravitational axis is ensured. In addition, in the method steps S12 to S14, the target measured-product variables can be set so that no additional calculation steps are to be performed. In method step S12, the x-signal component CBX is defined / calculated as x-target measured-product variable with:

(GM) CBX = cos (cp);

This can also be described in such a way that an x contribution component of the component of the magnetic field in the direction of the x measurement axis is calculated as the x target measurement material variable.

Correspondingly, in the method step S13, the y-signal component CBY is defined / calculated as y-target measured-product quantity with:

(G1 2) CBY = Max (sin (0); sin (cp) ^* sin (0));

In addition, in the method step S14, the z-signal component CBZ is defined as the z-target sample size with:

(G1 3) CBZ = Max (sin (0); sin (cp) ^* cos (0));

In the following method steps S15 to S17, the magnetic field in the external environment (earth magnetic field) is determined / measured in accordance with the set target measured quantity. For this, e.g. a three-axis magnetic sensor or three separate magnetic sensors are used as the magnetic measuring device. The power consumption Ex, Ey and Ez of the individual measurements is specified according to the set target measured value. By means of the specification of the power consumption Ex, Ey and Ez, the signal quality of individual determined (magnetic field strength) values Bx, By and Bz is reduced in accordance with the specified target measured value variables. The reduction in signal quality can be up to switching off

Sensors / sensor subunits take place, which can also be described as switching off a single measuring axis. The total power consumption can thus be for the

Method steps S15 to S17 are significantly reduced, without causing the information derived from the magnetic field components / the values Bx, By and Bz due to a deterioration of the signal quality.

In a further method step (not shown), taking into account the determined values Bx, By and Bz, the distribution of the magnetic field components in a plane oriented perpendicular to the gravitational axis can be determined. For example, this can be done for the magnetic field component Bx + in a stationary x-axis oriented perpendicular to the gravitational axis with:

(Gl 4) Bx + = Bx ^* cos (cp) + By ^* sin (cp) ^* sin (0) + Bz ^* sin (cp) ^* cos (O);

Likewise, the magnetic field component By + can be determined in a stationary y-axis aligned perpendicular to the gravitational axis with:

(Eq 5) By + = By ^* cos (0) -Bz ^* sin (O);

The procedure described in the above paragraph can also be described as a projection of the measured magnetic field into the plane perpendicular to the axis of gravity / parallel to the earth's surface. It is noticeable that for the calculation of

Magnetic field components can be used perpendicular to the gravitational axis Therme, which have already been determined to determine the contribution rates as target Maßglügrösse. Thus, the overall computational effort in the execution of the method is not increased.

In a further method step, the north cardinal direction / heading Ψ can be determined. This can be done, for example, according to:

(Gl 6) Ψ = atane ² (By / Bx);

In the following it will be shown by two examples that the

Energy consumption by means of carrying out the method described in the preceding paragraphs is significantly reduced.

For example, the sensor-oriented coordinate system of the x-measuring axis, the y-measuring axis and the z-measuring axis can be aligned with respect to the gravitational axis such that the pitch angle φ and the roll angle Φ are equal to 0 °. The above equations (GI 4) and (GI 5) are thus simplified as follows:

(Eq 7) Bx + = Bx;

(Eq 8) By + = By; The measurement / determination of the magnetic field component in the direction of the z measuring axis can thus be dispensed with, or the power consumption for measuring this axis can be greatly reduced. Similarly, the most sensitive coordinate system relative to the gravitational axis may be oriented so that the roll angle Φ is 90 °, while the pitch angle φ is equal to 0 °. The equations (Gl 4) and (Gl 5) listed above are thus simplified:

(GI 9) Bx + = Bx;

(G10) By + = -Bz;

Thus, in this embodiment, determining / measuring the

Magnetic component omitted in the direction of the y-measuring axis, or the measurement quality can be significantly reduced.

Claims

claims

1 . Magnetic sensor device with a spatial position measuring device (10), which is designed to a

Spatial position information (16, φ, Φ) with respect to an alignment of at least one sensor axis predetermined measuring axis of the magnetic sensor device with respect to at least one stationary spatial axis to determine; a magnetic measuring device (12, 12x, 12y, 12z) which is designed to have at least one magnetic field strength quantity (22, Bx, By, Bz) relative to a field strength component of a magnetic field in an environment of

Magnetic sensor device to determine in the direction of at least one sensor axis predetermined measurement axis; and an evaluation device (20), which is designed to, under

Considering the spatial position information (16, φ, Φ) and the at least one magnetic field strength quantity (22, Bx, By, Bz) information (24, Bx +, By +) with respect to a magnetic field strength component towards at least one with respect to at least define and output a stationary spatial axis constantly aligned spatial axis; characterized by a control device (14) which is designed to be under

Taking into account the spatial position information (16, φ, Φ) at least one set target size (CBX, CBY, CBZ) of the at least one magnetic field strength quantity (22, Bx, By, Bz) and one of the at least one specified target measured size ( CBX, CBY, CBZ) to the magnetic measuring device (12, 12x, 12y, 12z) corresponding to the magnetic measuring device (12, 12x, 12y, 12z) output, wherein the magnetic measuring device (12, 12x, 12y, 12z) by means of

Control signal (18, 18x, 18y, 18z) is controllable so that the at least one Magnetic field strength quantity (22, Bx, By, Bz) can be determined according to the at least one specified target measured size (CBX, CBY, CBZ).

Magnetic sensor device according to claim 1, wherein the control device (14) is additionally designed to have at least one desired measurement time for determining the at least one magnetic field strength quantity (22, Bx, By, Bz), at least one desired energization duration for determining the at least one

Magnetic field strength magnitude (22, Bx, By, Bz), and / or at least one desired current strength of at least one during the determination of the

Magnetic field strength magnitude (22, Bx, By, Bz) provided current (18x, 18y, 18z) as the at least one target Maßgügrößengröße (CBX, CBY, CBZ) set.

Magnetic sensor device according to claim 1 or 2, wherein the

Evaluation device (20) is additionally designed to be under

Considering the spatial position information (16, φ, Φ) and the at least one magnetic field strength quantity (22, Bx, By, Bz) a magnetic

Field strength distribution (Bx +, By +) in a direction perpendicular to the direction of gravity aligned plane as information (24, Bx +, By +) set and output.

Magnetic sensor device according to one of the preceding claims, wherein the spatial position measuring device (10) has a three-axis

Accelerometer sensor device comprises.

Magnetic sensor device according to one of the preceding claims, wherein the spatial position measuring device (10) is additionally designed as the spatial position information (16, φ, Φ) a pitch angle (cp) and a roll angle (Φ) of a sensor coordinate coordinate system with a x-measuring axis , a y-measuring axis and a z-measuring axis as the at least one sensor-strong measuring axis with respect to a stationary

Coordinate system comprising the gravitational axis as the at least one fixed spatial axis to determine.

Magnetic sensor device according to claim 5, wherein the control device (14) is additionally designed as the at least one target material size (CBX, CBY, CBZ) an x target measured quantity (CBX) of a magnetic field strength quantity (Bx) of a field strength component in the direction of the x measuring axis proportional to a cosine of the pitch angle (cp), a y target measured quantity (CBY) a magnetic field strength size (By) one

Field strength component in the direction of the y-measuring axis proportional to a maximum of a sine of the roll angle (Φ) and a product of a sine of the pitch angle (cp) and the sine of the roll angle (Φ) and / or z target Sollgügrößengröße (CBZ) a Magnetic field strength size (Bz) one

Field strength component in the direction of the z-measuring axis proportional to a maximum of the sine of the roll angle (Φ) and a product of the sine of the pitch angle (cp) and a cosine of the roll angle (Φ) set.

A compass device comprising a magnetic sensor device according to any one of the preceding claims; and a compass direction setting device configured to set and display at least one cardinal direction (Ψ) in consideration of the information (24) output from the magnetic sensor device.

Method for determining information (24, Bx +, By +) with respect to a magnetic field strength component in the direction of at least one stationary spatial axis, comprising the steps:

Determining a spatial position information (16, φ, Φ) with respect to an alignment of at least one measuring device fixed predetermined measuring axis of a magnetic measuring device with respect to at least one stationary relative to the at least one spatial axis stationary spatial axis

(S1);

Driving the magnetic measuring device to determine at least

Magnetic field strength magnitude (22, Bx, By, Bz) with respect to a

Field strength component of a magnetic field in an environment of Magnetic measuring device in the direction of at least one

measuring device fixed predetermined measuring axis; and

Setting the information (24, Bx +, By +) in consideration of the space information (16, φ, Φ) and the at least one magnetic field strength quantity (22, Bx, By, Bz) (S4); characterized by the steps:

Defining at least one desired measured material quantity (CBX, CBY, CBZ) of the at least one magnetic field strength quantity (22, Bx, By, Bz) below

Consideration of the spatial position information (16, φ, Φ); and

Activating the magnetic measuring device for determining the at least one magnetic field intensity quantity (22, Bx, By, Bz) corresponding to the at least one specified target measured quantity (CBX, CBY, CBZ) (S3).

A method according to claim 8, wherein as the spatial position information (16, φ, Φ) a pitch angle (cp) and a roll angle (Φ) of a sensor-fixed predetermined coordinate system with an x-measuring axis, a y-measuring axis and a z-measuring axis than the at least a sensorfesten measuring axis with respect to a stationary coordinate system as the at least one stationary spatial axis are determined, and wherein as the at least one target Maßglüße size (CBX, CBY, CBZ) an x-target-measured size (CBX) of a magnetic field strength-size (Bx) a field strength component in the direction of the x-measurement axis proportional to a cosine of the pitch angle (cp), a y-target measurement quantity (CBY) of a magnetic field strength magnitude (By) a

Field strength component in the direction of the y-measuring axis proportional to a maximum of a sine of the roll angle (Φ) and a product of a sine of the pitch angle (cp) and the sine of the roll angle (Φ) and / or a z target Maßgüektröße (CBZ) of a magnetic field strength Size (Bz) of a field strength component in the direction of the z measuring axis proportional to a maximum of the sine of the roll angle (Φ) and a product of the sine of the pitch angle (cp) and a cosine of the roll angle (Φ) are set Method for defining at least one cardinal direction (Ψ) with the steps:

Determining information (24, Bx +, By +) with respect to a magnetic field strength component in the direction of at least one stationary location axis according to the method of claim 8 or 9; and

Defining the at least one cardinal direction (H ^ taking into account the determined information (S5).