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# 1. WO2018121765 - DATA PROCESSING METHOD AND APPARATUS FOR MAGNETOMETER CALIBRATION

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## 发明名称 : 磁力计校准的数据处理方法和装置

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### 具体实施方式

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S100：获取采样点数以及采样点数对应的夹角阈值。
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S120：采集校准过程中磁力计测量的数据得到当前测量的磁向量。
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S140：查找已存储的磁向量，获取当前测量的磁向量与已存储的磁向量之间的夹角，得到检测夹角。
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S160：根据检测夹角和夹角阈值判断当前测量的磁向量是否满足预设条件。若是，则执行步骤S180；否则返回执行步骤S120。
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S180：存储当前测量的磁向量。
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S190：判断已存储的磁向量的数量是否等于采样点数。若否，则返回步骤S120。
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S110：根据预设夹角误差调整夹角阈值，得到新的夹角阈值。
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S131：判断当前测量的磁向量是否为校准过程中采集的第一个磁向量。若是，则执行步骤S132；否则执行步骤S140。
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S132：存储第一个磁向量，并返回步骤S120。
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x 2＝[2x,-y 2,2y,-z 2,2z,1][k 1,k 2,k 3,k 4,k 5,k 6] T
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K＝(D TD) -1(D TE)；
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