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WO2007099599A1 - Gyroscope magnetique - Google Patents

Gyroscope magnetique Download PDF

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Publication number
WO2007099599A1
WO2007099599A1 PCT/JP2006/303745 JP2006303745W WO2007099599A1 WO 2007099599 A1 WO2007099599 A1 WO 2007099599A1 JP 2006303745 W JP2006303745 W JP 2006303745W WO 2007099599 A1 WO2007099599 A1 WO 2007099599A1
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WO
WIPO (PCT)
Prior art keywords
magnetic
axis
calculating
rotation
calculation means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2006/303745
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English (en)
Japanese (ja)
Inventor
Yoshinobu Honkura
Katsuhiko Tsuchida
Eiji Kako
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Aichi Micro Intelligent Corp
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Aichi Micro Intelligent Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aichi Micro Intelligent Corp filed Critical Aichi Micro Intelligent Corp
Priority to JP2008502586A priority Critical patent/JPWO2007099599A1/ja
Priority to PCT/JP2006/303745 priority patent/WO2007099599A1/fr
Publication of WO2007099599A1 publication Critical patent/WO2007099599A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/02—Magnetic compasses
    • G01C17/28—Electromagnetic compasses
    • G01C17/30—Earth-inductor compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects

Definitions

  • the present invention relates to a magnetic gyro that uses geomagnetism to measure a rotation angle based on an arbitrary posture or to measure a rotation angular velocity.
  • a gyro is used as a means for detecting the rotation angle and rotation angular velocity of the device.
  • the gyro includes, for example, a directional gyro that measures postures and azimuths (that is, rotation angles) of various devices, vehicles, airplanes, and the like, and a rate gyro that measures a rotation angular velocity that is a change rate of the rotation angle. There is. There is also a means for calculating the rotation angle by integrating the rate gyro output signal.
  • Patent Document 1 The directional gyro described in Patent Document 1 requires a complicated mechanism. Therefore, it is difficult to reduce the size if the cost is low. In addition, a lot of electric power is required to rotate the rotor. Therefore, it will be limited to special uses, such as an aircraft.
  • rate gyro described in Patent Document 2 also requires a vibration mechanism, so that it is difficult to reduce the size.
  • Patent Document 1 US Patent No. 3143892
  • Patent Document 2 JP-A-7-139951
  • the present invention has been made in view of the conventional problems that are striking, and an object of the present invention is to provide a magnetic gyro that is excellent in measurement accuracy and that can be easily miniaturized.
  • the present invention provides a three-axis magnetic sensor that detects geomagnetism as a magnetic vector in a three-axis orthogonal coordinate system fixed to a measurement object;
  • Rotation axis calculation means for calculating the rotation axis based on the magnetic vector data at three or more different points of time accumulated in the memory
  • a magnetic gyro comprising rotation angle calculation means for calculating a rotation angle of the measured object around the rotation axis based on data of the magnetic vector.
  • the magnetic gyro has the three-axis magnetic sensor, the memory, the rotation axis calculation means, and the rotation angle calculation means. Based on the geomagnetism detected by the three-axis magnetic sensor, the change in the posture of the measured object is detected. Under normal circumstances, geomagnetism basically has a certain direction and size relative to the ground. Therefore, when the posture of the object to be measured, that is, when the posture of the 3-axis Cartesian coordinate system changes, the 3-axis The magnetic vector in the orthogonal coordinate system will change. By detecting this changing magnetic vector, it is possible to accurately measure changes in the posture of the measured object.
  • the change in the posture of the measured object can be specified by an arbitrary rotation angle around an arbitrary rotation axis.
  • the rotation axis is calculated by the rotation axis calculation means.
  • the memory stores the magnetic vector data at three or more different points necessary to calculate the rotation axis.
  • the rotation angle calculation means calculates the rotation angle of the measured object around the rotation axis based on the magnetic vector data.
  • the rotation axis and the rotation angle around the rotation axis can be obtained, the change in the posture of the measurement object can be measured.
  • the magnetic gyro can measure a change in posture of the measurement object based on the geomagnetism. Therefore, even if mechanical vibrations or impacts other than the rotational motion to be measured are applied, accurate measurement without reacting to these can be ensured.
  • the magnetic gyro since the magnetic gyro uses a three-axis magnetic sensor, it does not require a complicated mechanism or a lot of electric power unlike a mechanical type. Therefore, downsizing and low cost can be easily achieved. As a result, it can be easily incorporated into, for example, portable electronic devices whose size and density are increasing.
  • FIG. 1 is a conceptual diagram of a magnetic gyroscope in an embodiment.
  • FIG. 2 is an explanatory diagram of a three-axis orthogonal coordinate system, a rotation axis, a magnetic vector, and the like in the embodiment.
  • FIG. 3 is an auxiliary explanatory diagram of a method for calculating center coordinates in the embodiment.
  • FIG. 4 is an auxiliary explanatory diagram of a method for calculating a rotation angle in the embodiment.
  • FIG. 5 is a perspective view of a three-axis magnetic sensor in the example.
  • FIG. 6 is a plan view of a magneto 'impedance' sensor element in an example.
  • FIG. 7 is a schematic cross-sectional view taken along line A—A in FIG.
  • the magnetic gyro can be mounted on various measured objects such as mobile electronic devices such as mobile phones and PDAs, cameras, vehicles, robots, aircrafts, ships, and the like.
  • the magnetic vector is a vector parallel to the geomagnetism starting from the origin in the three-axis orthogonal coordinate system, and its magnitude is constant.
  • the magnetic gyro is configured to calculate a rotation angle of the measured object between two different time points calculated by the rotation angle calculating means and a difference between the sampling times of the magnetic vector data at the two time points.
  • an angular velocity calculating means for calculating the rotational angular velocity of the object to be measured around the rotation axis.
  • the interval at which the magnetic vector data is collected is constant.
  • the calculation in the rotation axis calculation means and the rotation angle calculation means can be performed easily and accurately, and the posture change can be accurately measured.
  • the rotation axis calculation means calculates two difference vectors that are differences between two magnetic vectors among the magnetic vectors at three or more different time points, and calculates an outer product of these two difference vectors. Accordingly, it is preferable to calculate a rotation axis vector in the same direction as the rotation axis. In this case, the rotation axis can be calculated easily and accurately.
  • the rotation angle calculation means includes a data plane determined by coordinate points of the magnetic vector at three or more different time points in the three-axis orthogonal coordinate system, and the rotation axis calculated by the rotation axis calculation means.
  • Rotation center coordinate calculation means for calculating the center coordinates of the trajectory circle passing through the coordinate points of the above magnetic vector at three or more different time points by calculating the intersection of the above and the center calculated by the rotation center coordinate calculation means Calculate the radius to calculate the radius of the locus circle by calculating the distance between the coordinates and the coordinate point of the magnetic vector.
  • the rotation angle is calculated based on the radius of the locus circle calculated by the radius calculation means and the coordinate points of the magnetic vector at two different time points.
  • the rotation angle can be calculated easily and accurately.
  • the rotation center coordinate calculation means may calculate the center coordinate of the trajectory circle by taking an inner product of the rotation axis vector calculated by the rotation axis calculation means and the magnetic vector. preferable.
  • the center coordinates can be calculated easily and accurately.
  • the radius calculation means calculates the radius of the trajectory circle by calculating a difference between a center coordinate vector having the origin as a start point and the center coordinate as an end point, and the magnetic vector. It is preferable.
  • the radius of the locus circle can be calculated easily and accurately.
  • the three-axis magnetic sensor is preferably constituted by a magneto 'impedance' sensor element.
  • the magneto-impedance sensor element (Ml element) is highly sensitive, it can detect weak geomagnetism with high accuracy. Furthermore, since the magneto 'impedance' sensor element is small, a small three-axis magnetic sensor can be obtained. This also makes it possible to fit the magnetic gyro in the IC chip.
  • the three-axis magnetic sensor can be formed by disposing the three magneto 'impedance' sensor elements so that their magnetic sensitive directions are in the three-axis directions orthogonal to each other.
  • the three-axis magnetic sensor is not limited to the magneto-impedance sensor element, and can be configured using various magnetic detection elements such as a Hall element, a magnetoresistive element, and a flux gate.
  • the magnetic gyro 1 of this example includes a three-axis magnetic sensor 2, a memory 3, a rotation axis calculation means 4, a rotation angle calculation means 5, and an angular velocity calculation means 6 as shown in FIG.
  • the triaxial magnetic sensor 2 detects geomagnetism as magnetic vectors m, m, m in the triaxial orthogonal coordinate system 10 fixed to the measurement object shown in FIG.
  • the above memory 3 is stored in time series by the 3-axis magnetic sensor 2 when the measured object moves as indicated by the arrow V in Fig. 1 around an arbitrary rotation axis K passing through the origin O of the 3-axis orthogonal coordinate system 10.
  • the data of magnetic vectors m, m, m detected in is stored.
  • the rotation axis calculation means 4 is a magnetic vector m, m stored in the memory 3 at three or more different time points.
  • the rotation angle calculation means 5 calculates the rotation angle of the object to be measured about the rotation axis K based on the magnetic vector data m, m, m.
  • the angular velocity calculation means 6 is based on the rotation angle of the measured object at two different time points calculated by the rotation angle calculation means 5 and the difference in the collection time of the magnetic vector data at the two time points. Then, the rotational angular velocity of the object to be measured about the rotation axis K is calculated.
  • the three-axis magnetic sensor 2 is constituted by a magneto-impedance sensor element 20 as shown in FIG. That is, the three-axis magnetic sensor 2 is configured so that the three magneto 'impedance' sensor elements 20 are in the three-axis directions (X-axis direction, Y-axis direction, Z-axis direction) in which the respective magnetic sensing directions are orthogonal to each other. It is formed by arranging. In FIG. 5, electronic components and wiring other than the magneto-impedance sensor element 20 are omitted.
  • the magneto-impedance sensor element 20 includes a magnetic sensing body 21 and a detection coil 22 wound around the magnetic sensing body 21.
  • the magnetic sensitive body 21 penetrates through an insulator 23 having an epoxy resin and the like, and the detection coil 22 is disposed on the outer peripheral surface of the insulator 23.
  • the magnetosensitive member 21 for example, Co Fe Si B having a length of 1. Omm and a wire diameter of 20 ⁇ m is used.
  • Magnet'impedance sensor element 20 has a so-called MI (Magneto) in which an induced voltage corresponding to the magnitude of the magnetic field acting on the element is generated in the detection coil 22 in accordance with a change in the current applied to the magnetic sensing element 21.
  • MI Magnetic
  • -Magnetic sensing using impedance phenomenon This Ml phenomenon is caused by a magnetic field having an electron spin arrangement in the circulation direction with respect to the supplied current direction. It is generated for the magnetic sensitive material 21 that is a material strength.
  • the magnetic field in the circulation direction changes abruptly, and the change in the spin direction of electrons occurs according to the peripheral magnetic field due to the effect of the magnetic field change.
  • a phenomenon in which changes in the internal magnetic field, impedance, etc. of the magnetic sensitive member 21 at that time occur is the Ml phenomenon.
  • the magneto-impedance sensor element 20 has a depth of 50 to 150 as shown in FIG.
  • the recess 24 is filled with an insulator 23, and a magnetosensitive body 21 is embedded in the insulator 23.
  • a conductive pattern is continuously formed in a spiral shape on the inner peripheral surface of the recess 24 and the side surface of the insulator 23 disposed at the position of the opening of the recess 24, and this conductive pattern is formed around the magnetic body 21.
  • the detection coil 22 for winding is configured.
  • the following method is available. That is, after depositing a conductive metal thin film on the inner peripheral surface of the recess 24, an etching process is performed to form a conductive pattern. Thereafter, the insulator 23 and the magnetic sensitive body 21 are disposed in the recess 24. Then, after depositing a conductive metal thin film on the side surface of the insulator 23, an etching process is performed to form a conductive pattern. At this time, the conductive pattern formed on the inner peripheral surface of the recess 24 and the conductive pattern formed on the side surface of the insulator 23 are made to be continuous spirally.
  • the inner diameter of the detection coil 22 of this example has 66 ⁇ m as a circle-equivalent inner diameter that is the diameter of a circle having the same cross-sectional area as that of the recess 24.
  • the line width and the line width of the detection coil 22 are both 25 m. Note that in FIG. 6, consideration for the line width and the line width is omitted.
  • the magnetic gyro 1 accumulates the above three-axis magnetic sensor 2 and the magnetic vector data detected by the three-axis magnetic sensor 2, and based on these, changes in the posture of the object to be measured and And a computer 11 that performs a calculation for calculating a posture change speed. That is, the computer 11 is provided with the memory 3, the rotation axis calculation means 4, the rotation angle calculation means 5, and the angular velocity calculation means 6.
  • the rotation angle calculation means 5 includes a rotation center coordinate calculation means 51 and a radius calculation means 52 described later.
  • the memory 3 is composed of hardware, and the rotation axis calculation means 4, the rotation angle calculation means 5, and the angular velocity calculation means 6 are constructed as calculation programs in software.
  • the three-axis magnetic sensor 2 is fixed to a part of the measurement object, and detects the geomagnetism as the magnetic vectors m, m, m at regular time intervals At. Magnetic vector m, m, m
  • This data of magnetic vectors m, m, m detected in time series is stored in computer 11.
  • the rotation axis K of the object to be measured is calculated by the rotation axis calculation means 4 based on the magnetic vector data at three or more different points accumulated in the memory 3.
  • the end points M, M, M of these magnetic vectors are one in the three-magnetic orthogonal coordinate system 10.
  • the magnetic vector data can be drawn as an average orbital circle passing through three forces, which are three here, and the more magnetic vector data, the more accurate the calculation is possible. It becomes. [0040] Therefore, first, as shown in FIG. 4, the difference vector n, which is the difference between the magnetic vectors m and m,
  • n that is, a vector perpendicular to the data plane S
  • n X n (, ⁇ n — n n n n — n n n — n n)
  • a straight line that is parallel to the rotation axis vector k thus obtained and passes through the origin O of the three-axis orthogonal coordinate system 10 is the rotation axis K.
  • the point force at which the rotation axis K and the data plane S intersect is the center coordinate C of the trajectory circle Q. Therefore, the rotation center coordinate calculation means 51 included in the rotation angle calculation means 5 obtains the center coordinate C as an intersection of the rotation axis K and the data plane S as follows.
  • the size of the center coordinate vector OC is the inner product of the rotation axis vector k and the magnetic vector m (or m or m) having the end point M (or M or M) on the locus circle Q.
  • the center coordinate C (center coordinate vector OC) is obtained from (ak, ak, ak).
  • the center coordinate C obtained by the center coordinate calculation means 51 in this way is used as the radius calculation method.
  • the center coordinate vector OC, whose center is C, which is the center of the locus circle Q, and the magnetic vector whose end point is the point M (or M or M) on the circumference of the locus circle Q are shown.
  • the radius R of the trajectory circle Q is calculated from the difference from Torr m (or m or m) by the following formula (6).
  • the rotation angle calculating means 5 calculates the rotation angle as follows.
  • the magnetic vector is changed from m to t
  • the line segment M G corresponds to the diameter 2R of the locus circle Q.
  • the angle M GM is the angle M CM (ie, the rotation angle ⁇ )
  • the rotation angle ⁇ is calculated as time.
  • the posture change speed of the measured object is divided.
  • the magnetic gyro 1 includes the triaxial magnetic sensor 2, the memory 3, the rotation axis calculation means 4, and the rotation angle calculation means 5. Based on the geomagnetism detected by the three-axis magnetic sensor 2, a change in the posture of the measured object is detected. Under normal circumstances, geomagnetism basically has a certain direction and size with respect to the ground. Therefore, when the attitude of the measured object, that is, the attitude of the three-axis orthogonal coordinate system 10 changes, the magnetic vector in the three-axis orthogonal coordinate system 10 changes in response to the change in attitude. . By detecting this changing magnetic vector, it is possible to accurately measure changes in the posture of the measured object.
  • the change in the posture of the measured object can be specified by an arbitrary rotation angle ⁇ around an arbitrary rotation axis ⁇ .
  • the rotation axis ⁇ is calculated by the rotation axis calculation means 4.
  • the memory 3 stores magnetic vector data at three or more different time points necessary for calculating the rotation axis ⁇ .
  • the rotation angle calculation means 5 allows the measurement object to be measured around the rotation axis ⁇ .
  • the rotation angle ⁇ is calculated based on the magnetic vector data.
  • the magnetic gyro can measure a change in the posture of the measurement object based on the geomagnetism. Therefore, even if mechanical vibrations or impacts other than the rotational motion to be measured are applied, accurate measurement without reacting to these can be ensured.
  • the magnetic gyro 1 uses the three-axis magnetic sensor 2, it does not require a complicated mechanism or a lot of electric power unlike a mechanical type. Therefore, downsizing and low cost can be easily achieved. As a result, it can be easily incorporated into, for example, portable electronic devices that are becoming smaller and higher in density.
  • the magnetic gyro 1 has the angular velocity calculation means 6, the rotational angular velocity ⁇ of the measured object can be easily detected. Therefore, it is possible to detect the posture change speed as well as the posture change amount of the measured object.
  • the rotation angle calculation means 5 includes a rotation center coordinate calculation means 51 and a radius calculation means 52, and is configured to calculate the rotation angle ⁇ using these as described above.
  • the rotation angle ⁇ can be calculated easily and accurately.
  • the three-axis magnetic sensor 2 is composed of the magneto 'impedance' sensor element 20, it is possible to obtain a magnetic gyro 1 with higher accuracy, higher sensitivity, higher response, and smaller size. That is, since the magneto 'impedance' sensor element 20 has high sensitivity, it can detect weak geomagnetism with high accuracy. Furthermore, since the magneto 'impedance' sensor element 20 is small, a small three-axis magnetic sensor 2 can be obtained. This also makes it possible to fit the magnetic gyro 1 inside the IC chip.
  • the magnetic gyro of the present invention is not limited to the above-described embodiment, and various modes are conceivable. Also, the above-described embodiment is merely an example of the calculation method of the rotation angle and the rotation angular velocity. That is, for example, the three-axis magnetic sensor includes, for example, a Hall element, a magnetoresistive element, and a flat element. Can be configured by other than magnet, impedance sensor element such as tas gate
  • the interval between magnetic vector sampling times by the three-axis magnetic sensor is not necessarily constant.
  • the number of magnetic vector data used for the calculation is not limited to three, and may be four or more.
  • extremely high-precision measurements can be made by taking measures such as taking averages using as many magnetic vector data as possible. Is possible.
  • the magnetic gyro of the present invention is mounted on a portable electronic device such as a mobile phone or a PDA, for example, so that the posture change amount and the posture change speed detected by the magnetic gyro Various input signals can be used.
  • the posture of the subject in the frame can be corrected or camera shake can be prevented using the detected posture change amount and posture change speed. Can do.
  • the detected posture change amount and posture change speed can be used for robot posture control and the like.
  • the magnetic gyro can be mounted on various objects to be measured such as vehicles, robots, airplanes, and ships.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Electromagnetism (AREA)
  • Gyroscopes (AREA)
  • Measuring Magnetic Variables (AREA)

Abstract

La présente invention concerne un gyroscope magnétique (1) qui comprend un capteur magnétique à trois axes (2) pour détecter un géo-magnétisme comme vecteur magnétique dans un système de coordonnées orthogonal à trois axes fixé sur un objet mesuré, une mémoire (3) pour stocker des données sur un vecteur magnétique chronologiquement détecté par le capteur magnétique à trois axes (2) lorsque l'objet mesuré se déplace autour de tout axe de rotation passant par l'origine du système de coordonnées orthogonal à trois axes, un calculateur d'axe de rotation (4) pour calculer l'axe de rotation en fonction des données de vecteur magnétique à trois points de temps différents ou plus stockés dans la mémoire (3), ainsi qu'un calculateur d'angle de rotation (5) pour calculer l'angle de rotation de l'objet mesuré autour de l'axe de rotation en fonction des données du vecteur magnétique.
PCT/JP2006/303745 2006-02-28 2006-02-28 Gyroscope magnetique Ceased WO2007099599A1 (fr)

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JP2008502586A JPWO2007099599A1 (ja) 2006-02-28 2006-02-28 磁気式ジャイロ
PCT/JP2006/303745 WO2007099599A1 (fr) 2006-02-28 2006-02-28 Gyroscope magnetique

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Cited By (15)

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JP2008224642A (ja) * 2007-03-09 2008-09-25 Aichi Micro Intelligent Corp 磁気式ジャイロ
JP2009002934A (ja) * 2007-04-25 2009-01-08 Commiss Energ Atom 実質的に不変な回転軸を検出するための方法および装置
JP2009156779A (ja) * 2007-12-27 2009-07-16 Fujitsu Ltd モーションセンシング装置，モーションセンシング方法およびモーションセンシング回路
JP2010271336A (ja) * 2010-09-10 2010-12-02 Aichi Micro Intelligent Corp 磁気式ジャイロ
JP2010281837A (ja) * 2010-09-10 2010-12-16 Aichi Micro Intelligent Corp 磁気式ジャイロ
WO2011037118A1 (fr) 2009-09-26 2011-03-31 アルプス電気株式会社 Dispositif de détection de géomagnétisme
WO2011152105A1 (fr) * 2010-06-03 2011-12-08 アイチ・マイクロ・インテリジェント株式会社 Gyroscope magnétique
JP2011252808A (ja) * 2010-06-02 2011-12-15 Alps Electric Co Ltd 磁気検知装置
JP2012088124A (ja) * 2010-10-18 2012-05-10 Alps Electric Co Ltd 磁界検知装置
JP2012093152A (ja) * 2010-10-26 2012-05-17 Aichi Micro Intelligent Corp 磁気式ジャイロ
WO2012099819A1 (fr) * 2011-01-21 2012-07-26 Northrop Grumman Guidance and Electronics Company Inc. Compensation d'erreur de champ magnétique d'un système de gyroscope
JP2013015435A (ja) * 2011-07-05 2013-01-24 Aichi Micro Intelligent Corp 磁気式ジャイロ
WO2018180076A1 (fr) 2017-03-30 2018-10-04 愛知製鋼株式会社 Système de mesure de quantité de rotation de balle
US10365106B2 (en) 2015-12-21 2019-07-30 Casio Computer Co., Ltd. Electronic apparatus, angular velocity acquisition method and storage medium for the same
WO2020152463A1 (fr) * 2019-01-22 2020-07-30 Deepmatter Ltd Vitesse de rotation et détection de fréquence de rotation anormale

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Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008224642A (ja) * 2007-03-09 2008-09-25 Aichi Micro Intelligent Corp 磁気式ジャイロ
JP2009002934A (ja) * 2007-04-25 2009-01-08 Commiss Energ Atom 実質的に不変な回転軸を検出するための方法および装置
JP2009156779A (ja) * 2007-12-27 2009-07-16 Fujitsu Ltd モーションセンシング装置，モーションセンシング方法およびモーションセンシング回路
CN102510997B (zh) * 2009-09-26 2015-01-21 阿尔卑斯电气株式会社 地磁力检测装置
JP5076027B2 (ja) * 2009-09-26 2012-11-21 アルプス電気株式会社 地磁気検知装置
WO2011037118A1 (fr) 2009-09-26 2011-03-31 アルプス電気株式会社 Dispositif de détection de géomagnétisme
US9234754B2 (en) 2009-09-26 2016-01-12 Alps Electric Co., Ltd. Geomagnetism sensing device
CN102510997A (zh) * 2009-09-26 2012-06-20 阿尔卑斯电气株式会社 地磁力检测装置
US20120078571A1 (en) * 2009-09-26 2012-03-29 Alps Electric Co., Ltd. Geomagnetism sensing device
JP2011252808A (ja) * 2010-06-02 2011-12-15 Alps Electric Co Ltd 磁気検知装置
JP2011252857A (ja) * 2010-06-03 2011-12-15 Aichi Micro Intelligent Corp 磁気式ジャイロ
WO2011152105A1 (fr) * 2010-06-03 2011-12-08 アイチ・マイクロ・インテリジェント株式会社 Gyroscope magnétique
JP2010281837A (ja) * 2010-09-10 2010-12-16 Aichi Micro Intelligent Corp 磁気式ジャイロ
JP2010271336A (ja) * 2010-09-10 2010-12-02 Aichi Micro Intelligent Corp 磁気式ジャイロ
JP2012088124A (ja) * 2010-10-18 2012-05-10 Alps Electric Co Ltd 磁界検知装置
JP2012093152A (ja) * 2010-10-26 2012-05-17 Aichi Micro Intelligent Corp 磁気式ジャイロ
JP2014504729A (ja) * 2011-01-21 2014-02-24 ノースロップ グラマン ガイダンス アンド エレクトロニクス カンパニー インコーポレイテッド ジャイロスコープシステムの磁場誤差補正
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