Abstract: In order to be able to undertake a reliable prediction of a movement trajectory of an object moving in road traffic even for relatively long prediction periods, a method is proposed in which there is firstly determined (203) with the aid of an evaluation of a determined movement variable of the object a driving maneuver that is executed by the object. A model (2051; . . . ; 205N) of the movement of the object is then selected as a function of the determined driving maneuver, and the movement trajectory of the object is calculated with the aid of the selected model. There is also proposed an apparatus for predicting the movement trajectory of an object that is suitable for carrying out the method. The object can be both a motor vehicle and an object in the surroundings of the motor vehicle.

Abstract: A gradient information calculating system includes a first calculating unit (14) that detects three-dimensional location information through autonomous navigation, and calculates a first gradient value (?b, B), based on a distance (m) traveled, and an on-plane distance (L1) obtained by projecting the distance (m) traveled on a horizontal plane, a road map information storing unit (17) that stores road map information that represents each road by nodes of which the location information is known, and a link that connects the nodes, a second calculating unit (16) that estimates elevations of the nodes from previously measured elevation data, and calculates a second gradient value (A), based on a difference in elevation between the nodes and the length of the link, and a gradient data selecting unit (19) that selects one of the first and second gradient values to be adopted as a gradient value of the link, according to a difference between the first and the second gradient values.

Abstract: A portable electronic apparatus able to suppress a drop of display precision concerning a bearing due to a drop of a detection precision of geomagnetism accompanying non-contact communication by electromagnetic coupling etc. and a calibration method of a geomagnetism sensor are provided. When a non-contact communication function part (111) carries out non-contact communication, processing concerning the calibration of a geomagnetism sensor (110) and processing calculating the bearing after the end of that communication are performed so as to suppress the drop of the display precision concerning the bearing accompanying the non-contact communication.

Abstract: A method and a device for acquiring a value of a defined reference point of a first variable which is measured by an incrementally measuring sensor of a motor vehicle are disclosed. The method includes the step of acquiring intermediate values of the defined reference point in at least two detection modules using at least one second measured variable, wherein each detection module is adapted to determine a value of the defined reference point of the first variable in a pre-defined driving situation. A quality level for each intermediate value is determined. The quality levels of the intermediate values are compared. The value of the defined reference point is determined from the acquired intermediate values in accordance with a result of the compared quality levels.

Abstract: Techniques for estimating compass and gyroscope biases for handheld devices are disclosed. The compass bias can be determined by causing a small movement of the handheld device and comparing the data obtained from the compass with the data obtained from the gyroscope. The gyroscope bias can be determined by obtaining a quaternion based angular velocity term of the handheld device when the accelerometer and compass data are reliable, and then comparing the angular velocity term with the gyro data to estimate the gyro bias. When the compass and/or the accelerometer data are unreliable, a previously determined quaternion angular velocity term is used. The gyroscope bias can also be determined by measuring gyroscope biases at various temperatures in a non-factory setting, storing the data in a memory, and using the data to estimate gyro biases when the accelerometer and/or the compass data are unreliable.

Abstract: The invention as disclosed is an autonomous magnetic measurement system for monitoring the background magnetic fields associated with power lines, electronic devices, electronic vehicles and the Earth's background magnetic field. The components of the autonomous magnetic measurement system include a series of three axis analog magnetic sensors, a fluxgate compass, and a programmable micro-controller. The micro-controller receives data from the sensor and compass and is programmed to autonomously detect magnetic signals having particular characteristics of interest.

Abstract: Wireless platform attitude information such as pitch, roll and heading are disclosed. Attitude estimates can be made by using orthogonally mounted gyroscopes. Attitude estimates can be also made by determining the direction of arrival of signals and comparing the direction of arrival of the signals with the position of the transmitters and the position of the receiver. The attitude estimates can be then combined to determine “real time” attitude information.

Abstract: An innovative configuration of Miniaturized Smart Self-calibration EPD for mortar applications, as the azimuth/heading and elevation measurement device. This innovative EPD configuration uses only two FOGs or DTG and accelerometers and it is self-contained. This leads to a new EPD implementation that produces a small and light device with lower cost and adequate accuracy for the small dismounted mortar applications.

Abstract: Methods and apparatus are provided for calibrating and initializing/aligning an attitude and heading reference system of a crane jib. Magnetometer measurements are generated using a magnetometer that is attached to the crane jib, while crane jib maneuvers are performed including crane jib slewing. The magnetometer measurements are supplied to a processor that is configured to generate magnetometer calibration parameters using the magnetometer measurements and to initialize and align a plurality of filters.

Abstract: A compass output in a first portable electronic device is monitored as the first device and a second electronic device come closer to each other. It is determined, by a process running in the first device, whether a magnetic field signature that is based on the monitored compass output is associated with a previously defined type of electronic device with which a network device discovery process is to be conducted. Other embodiments are also described and claimed.

Abstract: Methods and systems for compensating for gyroscopic errors. A system uses magnetometers to detect and measure a magnetic field local to a personal navigation device. When the local magnetic field is quasi-static, the rate of change of the magnetic field is combined with the rotational rate of change of the device. This generates an estimated gyroscope error. The error can then be used to correct for time-varying inherent gyroscope errors.

Abstract: A method of determining the heading of an excavator at a worksite uses a magnetic field sensor, mounted on the excavator, inclinometers that provide an indication of the pitch and roll of the excavator, a gyroscopic sensor that senses the rotational rate of the excavator about the Z axis of the magnetic field sensor, and a processor circuit, having an associated memory. A calibration table of data is created and stored using the gyroscopic sensor as the excavator is rotated at a uniform velocity. The sensed indications of the magnetic field from the coordinate reference frame of the sensor are transformed to the local level plane coordinate reference frame using the outputs from the inclinometers.

Abstract: A multi-magnetometer device comprises at least two z-axis aligned and physically rotated magnetometer triads utilized for measuring corresponding earth's magnetic field. The magnetic field measurements are utilized to measure rotation measurements of a single orthogonal axis along the 360 degrees of the complete circle without user's assistance and/or magnetometer movement for magnetometer calibration. The multi-magnetometer device may compute its magnetic heading utilizing the magnetic field measurements if no magnetic perturbations are detected. When magnetic perturbations are detected, a perturbation mitigation process may be performed. The rotation measurements may be generated by selectively combining the magnetic field measurements. Hard-iron components are determined utilizing the rotation measurements, and are removed from the magnetic field measurements.

Abstract: Methods and apparatus are provided for determining the attitude and heading angle of a crane jib. Crane jib angular velocity, crane jib roll angle, crane jib pitch angle, crane jib specific force, and magnetic field in the local operating environment of the crane jib are all sensed and supplied to a processor. All of these measurements are processed, in a processor, to estimate the attitude and heading angle of the crane jib.

Abstract: A portable electronic apparatus calibrates a geomagnetism sensor at a suitable timing. When a key is operated in a power-saving mode, the power-saving mode ends, and a detection value of a geomagnetism sensor is calibrated. The calibration is executed in a state where a user tries to view a screen of a display part, therefore the calibration is executed in a state where an angle of housings with respect to the horizontal plane is suitable, and a calculation precision of a bearing is improved. By executing calibration during activation of the navigation application useless calibration is not carried out, and an increase of power consumed is suppressed.

Abstract: A calibration system for simultaneous calibration of multiple motion capture elements (MCEs) of at least one type (accelerometer and/or gyroscope). Includes motion and/or rotational element coupled to a base and configured to move and/or rotate multiple MCEs mounted on a mount in and/or about at least one axis. For one axis movement embodiments, after each motion and/or axial rotation, the motion and/or rotational mount itself is rotated for example manually, so the mount points in a different direction, i.e., the Z axis. In a single axis embodiment, this is performed twice so that each axis of the MCEs experience motion and/or rotation about three axes. The motion capture data is sampled and used in calculation of a 3×3 calibration matrix. The physical format of the motion capture sensors may be any format including chip, memory or SIM card format, PCB format, mobile computers/phones.

Abstract: The magnitude of a sensed, raw magnetic field in a portable device is monitored over a given time interval. The monitored magnitude is compared with predetermined criteria. Based on the comparison, recalibration of a compass function is signed. Other embodiments are also described and claimed.

Abstract: One embodiment of the invention includes a nuclear magnetic resonance (NMR) gyroscope system. The system includes a gyro cell that is sealed to enclose an alkali metal vapor, a first gyromagnetic isotope, and a second gyromagnetic isotope. A magnetic field generator configured to generate a magnetic field that is provided through the gyro cell to cause the first and the second gyromagnetic isotopes to precess. A magnetic field error controller configured to measure an error associated with a magnitude of the magnetic field and to generate an error signal that is fed back to the magnetic field generator to maintain the magnetic field at a desired magnitude. The system further includes a mechanization processor configured to calculate a rotation angle about a sensitive axis of the NMR gyroscope system based on a measured precession angle of at least one of the first and second gyromagnetic isotopes and the error signal.

Abstract: A seismic sensor module includes sensing elements arranged in a plurality of axes to detect seismic signals in a plurality of respective directions, and a processor to receive data from the sensing elements and to determine inclinations of the axes with respect to a particular orientation. The determined inclinations are used to combine the data received from the sensing elements to derive tilt-corrected seismic data for the particular orientation.

Abstract: The present invention relates to a method for the calibration of a position determination system of a rear axle steering actuator for a motor vehicle. The rear axle steering actuator has an actuator element which can be driven by a rotary movement of a rotor to a translation movement and whose geometrical center position is determined by a reference measurement. The position determination system includes a linear sensor and a rotary sensor. During calibration, a piece of calibration information is generated which includes a piece of zero point information of the linear sensor and a piece of sector information. The measurement range of the rotary sensor is divided into at least two sectors. The sector information identifies that angle at which the angular position of the rotor lies when the actuator element is arranged in its geometrical center position. The calibration information is stored in the linear sensor.

Abstract: A system for measuring signals received by an apparatus. An antenna system in the apparatus may include two or more antennas. A receiver in the apparatus may be configured to measure signal response induced in the antenna system in accordance with a pattern. After the signal response for the antenna system is measured at least once, the pattern may be altered and the signal response for the antenna system may be measured again in accordance with the altered pattern. The signal response in the antenna system measured for the pattern may then be averaged with the signal response in the antenna system measured for the altered pattern, and the average may be utilized as input to, for example, a directional determination process.

Abstract: A mobile device has a geomagnetic sensor, position detection means for detecting a position of the mobile device, and a controller operable to control the geomagnetic sensor and the position detection means. When the position detection means detects a predetermined position change, the controller starts a correction process of the geomagnetic sensor based upon the detection.

Abstract: A compass system includes a magnetic field sensor for measuring an ambient magnetic field and a magnetic field generator, corresponding to the magnetic field sensor, configured to generate a reference magnetic field. The magnetic field sensor is configured to measure the reference magnetic field. The compass system further includes a control circuit operably connected to the magnetic field sensor and magnetic field generator, wherein the control circuit is configured to process the ambient magnetic field and the reference magnetic field measurements to determine an absolute reference field strength for use in calibrating the compass system.

Abstract: The invention relates to a method and a device for measuring a damaged vehicle, in which inclination of the vehicle is measured with the measuring device and the measured inclination of the vehicle is used as a datum plane, distances of measuring points (9a, 9b) of the damaged vehicle (8) are measured with a measuring sensor of the measuring device and the measured data are compared to registered reference values of the measuring points, and inclination of the measuring device is measured with an inclination sensor of the measuring device. According to the invention, the measuring device simultaneously measures the distance between the measuring points and the inclination of the damaged vehicle and height difference of the measuring points is calculated from the values of distance between the measuring points and inclination.

Abstract: A method of identifying and imaging a high risk collision object relative to a host vehicle includes arranging a plurality of N sensors for imaging a three-hundred and sixty degree horizontal field of view (hFOV) around the host vehicle. The sensors are mounted to a vehicle in a circular arrangement so that the sensors are radially equiangular from each other. For each sensor, contrast differences in the hFOV are used to identify a unique source of motion (hot spot) that is indicative of a remote object in the sensor hFOV. A first hot spot in one sensor hFOV is correlated to a second hot spot in another hFOV of at least one other N sensor to yield range, azimuth and trajectory data for said object. The processor then assesses a collision risk with the object according to the object's trajectory data relative to the host vehicle.

Abstract: A portable electronic apparatus able to suppress a drop of display precision concerning a bearing due to a drop of a detection precision of geomagnetism accompanying non-contact communication by electromagnetic coupling etc. and a calibration method of a geomagnetism sensor are provided. When a non-contact communication function part (111) carries out non-contact communication, processing concerning the calibration of a geomagnetism sensor (110) and processing calculating the bearing after the end of that communication are performed so as to suppress the drop of the display precision concerning the bearing accompanying the non-contact communication.

Abstract: The invention relates according to a first aspect to a hybridization device (1) comprising a virtual platform (2), a bank (3) of Kalman filters each estimating a correction vector (dXO-dXn) comprising a plurality of components, said device formulating a hybrid output (SH) corresponding to inertial measurements (PPVI) calculated by the virtual platform (2) and corrected by a stabilization vector (dC) exhibiting one and the same plurality of components, characterized in that it comprises a correction formulation module (4) configured so as to formulate each of the components (dC[state]) of the stabilization vector (dC) as a function of all the corresponding components (dXO[state]-dXn[state]) of the correction vectors (dXO-dXn).

Abstract: A magnetic compass comprising a magnetometer for taking readings of a magnetic field and a processing unit that calibrates the magnetic compass is provided. The processing unit is configured to validate a predetermined number of magnetic field samples and calculate calibration coefficients from the validated magnetic field samples. Each validated magnetic field sample is at least a minimum separation angle apart from every other validated magnetic field sample.

Abstract: In a base station device (10), a reference installation direction storage unit (54) stores at least one reference installation direction serving as a reference installation direction. An acceleration sensor (52) measures an installation direction of the base station device. An inclination judgment unit (56) calculates inclination angles each defined by each reference installation direction stored in the reference installation direction storage unit (54) and the installation direction measured by the acceleration sensor (52). Moreover, the inclination judgment unit (56) judges whether each of the inclination angles exceeds a predetermined value. Then, an installation error alarm unit (58) issues a predetermined alarm when the inclination judgment unit (56) judges that some or all of the inclination angles exceed the predetermined angle.

Abstract: Wireless platform attitude information such as pitch, roll and heading are disclosed. Attitude estimates can be made by using orthogonally mounted gyroscopes. Attitude estimates can be also made by determining the direction of arrival of signals and comparing the direction of arrival of the signals with the position of the transmitters and the position of the receiver. The attitude estimates can be then combined to determine “real time” attitude information.

Abstract: A method and system for Self-calibrated Azimuth and Attitude Accuracy Enhancing are disclosed, wherein SAAAEMS approach is based on fully auto-calibration self-contained INS principles, not depending on magnetometers for azimuth/heading determination, and thus the system outputs and performance are not affected by the environmental magnetic fields. In order to reduce the system size and cost, this new innovative methods and algorithms are used for SAAAEMS system configuration and integration. Compared to a conventional INS for gyrocompassing, AGNC's approach uses a smaller number of high accuracy sensors: SAAAEMS uses only one 2-axis high accuracy gyro (for example, one DTG) instead of 3-axis; the third axis gyro is a MEMS gyro. It uses only 2 high accuracy accelerometers instead of 3, since the two accelerometers are used only for gyrocompassing not for navigation. These two changes to the conventional INS system configuration remarkably reduce the whole system size and cost.

Abstract: A first attitude calculation means S2 calculates a first attitude indicating an attitude of an input device itself based on a motion detection signal output from an input device equipped with a motion detection sensor. A motion calculation means S21 calculates a motion of the first attitude. An approaching operation determination means S22 to S24 determines whether or not the motion of the first attitude calculated by the motion calculation means is a motion of approaching a predetermined attitude. An input attitude setting means S27, S28, S4 sets an attitude obtained by correcting the first attitude as an input attitude if the motion of the first attitude is the motion of approaching the predetermined attitude, and sets the first attitude as an input attitude if the motion of the first attitude is not the motion of approaching the predetermined attitude. A process execution means S5 performs a predetermined information process based on the input attitude.

Abstract: The present disclosure relates to methods and apparatuses for calibrating a sensor, particularly a gravimeter, which involves positioning the sensor in at least three different orientations and calibrating the sensor using a linear model and the sensor outputs from the at least three different orientations. The method may include applying an external force to the sensor. The apparatus includes a processor and storage subsystem with a program that, when executed, implements the method.

Abstract: A system for testing the accuracy of an electronic compass is disclosed. The system includes a circular track, a compass seat, an electromagnetic element, a driver, a power source, a calculator, and a magnetic shielding chamber. The electromagnetic element is disposed on the circular track and powered by the power source to generate a magnetic field. The electronic compass is installed on the compass seat and surrounded by the circular track. As such, the electronic compass can measure the magnetic field of the electromagnetic element and calculate direction relative to the electromagnetic element at different points of the circular track when the electromagnetic element is driven by the driver to move along the circular track. The magnetic shielding chamber is for shielding the electromagnetic element and the electronic compass from interference of external magnetic fields.

Abstract: A portable terminal device 101 of the invention having at least two or more cases joinable in a plurality of different joining shapes includes a magnetism detection section 8 being provided in at least one of the two or more cases for detecting a magnetism quantity; a storage section 9 for storing the effect amount produced by magnetism from a magnetism generation source of the portable terminal device 101 in the detected magnetism quantities for each of the plurality of different joining shapes of the portable terminal device 101; a case shape detection section 4 for detecting a joining shape of the portable terminal device 101; a data processing section 3 for correcting the detected magnetism quantity based on the stored effect amount in the detected joining shape; and a position measurement section 2 for measuring an azimuth based on the corrected magnetism quantity.

Abstract: A multi-dimensional sensor, a magnetometer or accelerometer, is calibrated based on the raw data provided by the sensor. Raw data is collected and may be used to generate ellipse or ellipsoid parameters, for a two-dimensional or three-dimensional sensor, respectively. An offset calibration factor is calculated based on the raw data, e.g., the determined ellipse or ellipsoid parameters. A sensitivity calibration factor is then calculated based on the offset calibration factor and the raw data. A non-orthogonality calibration factor can then be calculated based on the calculated offset and sensitivity calibration factors. Using the offset, sensitivity and non-orthogonality calibration factors, the raw data can be corrected to produce calibrated data.

Abstract: Methods and apparatus are described herein for calibration and correction of non-constant sensor errors, and in particular non-constant compass errors, that are based in part on changing software and hardware modes of a host device. The non-constant errors induced in the sensor by each mode and combination of modes is determined in a calibration that may be determined during pre-production testing of one or more host devices. The calibration results can be incorporated into software and/or hardware of the host device. During normal operation, a sensor correction can be applied to sensor measurements based in part on the active mode or combination of modes.

Abstract: An azimuth computing device includes an azimuth computing unit for computing azimuth data by using an output from a magnetic sensor; a buffer unit for storing the azimuth data; a control unit for outputting azimuth data if the azimuth data stored in the buffer unit by a predetermined number of pieces is within a predetermined range; and a storage unit for storing the output azimuth data as a reference azimuth. The control unit outputs azimuth data if the azimuth data stored in the buffer unit is within a predetermined angle from the reference azimuth, and discards at least part of the azimuth data stored in the buffer unit if the azimuth data stored in the buffer unit is not within the predetermined range.

Abstract: To provide an operating device control device for obtaining information about a rotational angle of an operating device, while reducing the influence due to an individual difference and/or variation of a reference sensor signal in accordance with a sensor signal output from the gyro sensor mounted in the operating device. A control device of an operating device having a gyro sensor for detecting an angular velocity and outputting a sensor signal in accordance with the detected angular velocity, the control device obtains an output signal from signal output means for outputting an output signal in accordance with a difference between the sensor signal output from the gyro sensor and a predetermined reference signal, then estimates a reference sensor signal to be output by the gyro sensor when no angular velocity is detected, based on the output signal, and changes the predetermined reference signal according to the estimated reference sensor signal.

Abstract: An in-vehicle compass system and method that is calibrated based on a magnetic field model and/or a deviation analysis based on a location signal received from a positioning system.

Abstract: Systems are able to reduce or remove slowly-varying drift errors, such as heading errors, rate of rotation errors, and direction of travel errors, to correct the measurements from tracking devices. The systems may be used to remove the slow varying drift errors for gyroscopic tracking device sensors, or other types of sensors used for determining heading, rates of rotation, direction of travel, or position. The systems may be employed in personal dead reckoning systems, or other personnel tracking device, as well as in vehicle tracking devices. The system uses heuristic assumptions to correct for these drift errors, via a feedback loop control having an accumulator responsive to changes in output signals. The accumulator is able to produce a signal that over time compensates for the inherent drift errors on those output signals.

Abstract: A navigation device includes a measuring unit to measure the current position; a geomagnetism sensor that is provided on a predetermined main unit, and is to detect geomagnetism; an orientation calculation unit to calculate the orientation of the main unit, upon setting correction values for correction detection values of the geomagnetism, based on the detection values and the correction values; a presenting unit to present measurement results by the measuring unit and the calculation results of the orientation to a user; an operating state switchover unit to switch between a normal operating state that executes the presenting processing and a suspended state that maintains a portion of processing state while stopping at least the calculation processing of the orientation; and an initialization processing unit to initialize the correction values, in the case of having switched from the suspended state to the normal operating state by the operating state switchover unit.

Abstract: A system is provided for aligning a railroad signal. The system includes at least one tilt device and at least one directional device to measure the respective tilt and direction of the railroad signal, and at least one controller coupled to the tilt device and the directional device. The controller is switchable between a calibration mode and a monitoring mode. Upon switching to the calibration mode, a correct tilt and correct direction of the railroad signal in a proper alignment is respectively measured and recorded in a memory of the controller. More particularly, upon recording the correct tilt and correct direction, the controller switches into the monitoring mode to determine if one of a measured tilt and a measured direction of the railroad signal exceeds a respective tilt threshold and direction threshold stored in the memory of the controller.

Abstract: Provided is an apparatus for precisely correcting position and attitude information of a camera by analyzing image information received through a three line scanner in operation of the camera obtaining the position and attitude information from a Global Navigation Satellite System (GNSS) and an Inertial Navigation System (INS), and a method thereof. The method for correcting position and attitude information of a camera includes the steps of: a) calculating the position of the camera by using the GNSS; b) calculating the attitude of the camera by using the INS; c) generating the position and attitude correction information of the camera by analyzing an image received through a three line scanner mounted in the camera; and d) receiving a feedback of the position and attitude correction information in the GNSS and the INS.

Abstract: The system for determining parameters representing the orientation of a solid in movement subject to a first vector field and a second vector field—comprises a first triaxial sensor and a second triaxial sensor integral to said solid for measuring the components of said respective vector fields along the axes of said sensors, and means for determining the rotation matrix of the solid. Said means for determining said rotation matrix comprise: correction means for correcting the influence of an additional vector field of the same nature as said measured vector field; and first means for calculating a third vector which is not coplanar to the plane formed by the two vectors delivered by said correction means, and such that the angles of the axis system formed by the third vector and the two vectors delivered by said correction means remain constant.

Abstract: An apparatus and method for compensation of the effects of various bias errors encountered by inertial rate gyroscopes, particularly vibrating element gyroscopes, configured to detect heading relative to true north. Certain embodiments are suitable for reducing rotational dynamic errors associated with rotating gyroscopes. Other embodiments may include compensation of biases not related to rotational dynamics, such as thermal drift. The various methods disclosed may also account for the bias by sampling the rotational vector of the earth at an arbitrary heading, and at a heading that is 180° offset from the arbitrary heading. The sequence may be repeated numerous times to compensate for bias drift. The bias drift may be constant with respect to time (linear) or changing over time (non-linear) during the data acquisition sequence. Some embodiments include methods that utilize data from accelerometers to infer the bank and elevation angles as well as earth latitude location relative to the equator.

Abstract: In a magnetic data processing device, an accumulation part repeatedly accumulates a predetermined number of magnetic data to provide a statistical population, while sequentially acquiring magnetic data output from a 3D magnetic sensor. A determination part determines, when the predetermined number of magnetic data is accumulated as a statistical population, whether or not the statistical population is spread two-dimensionally using a first threshold, and determines, when the statistical population is spread two-dimensionally, whether or not an angle between a first plane and a second plane is small to a negligible extent using a second threshold, the first plane including a circle about which the statistical population is concentrated, and the second plane being perpendicular to a line segment connecting a center of the circle and a current offset of the magnetic data.

Abstract: In a magnetic data processing device, an accumulating part sequentially acquires magnetic data output from a 3D magnetic sensor to provide a recent statistical population of the magnetic data. A past statistical population storage part stores, as a past statistical population, magnetic data output from the 3D magnetic sensor prior to the magnetic data accumulated as the recent statistical population. A determination part determines whether a distribution of the recent statistical population satisfies a certain condition, and determines whether a mixed statistical population of the past and recent statistical populations satisfies another condition when the recent statistical population does not satisfy the certain condition. An offset derivation part derives an offset of the magnetic data based on the recent statistical population when it satisfies the certain condition and derives an offset of the magnetic data based on the mixed statistical population when it satisfies said another condition.

Abstract: The object of the present invention is to provide a calibration program and an electronic compass that make it possible to calibrate the output of a magnetic sensor with a small amount of computation while a user does not notice the execution of calibration. A calibration program according to an aspect of the invention includes: a step of forming at least two triangles 21 and 22 with the use of at least four outputs of a magnetic sensor in a three-dimensional space; a step of finding circles 23 and 24 circumscribed about the triangle 21 and 22, respectively; and a step of finding the intersection of normal vectors 25 and 26 each of which passes through the center of the corresponding circumscribed circle so as to find a reference point.

Abstract: A position detecting method includes the steps of forming an image of a mark on a sensor, performing a first process that processes a raw signal obtained from the sensor with plural parameters, performing a second process that determines an edge of a signal processed by the first process for each parameter, determining a parameter from a result of the second process obtained for each parameter, and calculating a position of the mark based on a determined parameter.