Patent ID: 10060743

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