Magnetic data processing device, magnetic data processing method, and magnetic data processing program

A navigation apparatus comprising:

• a magnetic sensor configured to output magnetic data;
• an input part configured to sequentially receive the magnetic data output from the magnetic sensor;
• a storage part configured to store a plurality of the magnetic data as a data set of statistical population;
• an index derivation part configured to derive a distribution index of the data set of the statistical population;
• a reliability determination part configured to determine whether or not reliability of the data set of the statistical population is acceptable based on the distribution index and a decision criterion;
• a decision criterion setting part configured to increase strictness of the decision criterion when the reliability determination part determines that the reliability of the data set of the statistical population is acceptable and configured to decrease the strictness of the decision criterion when the reliability determination part determines that the reliability of the data set of the statistical population is unacceptable;
• an offset derivation part configured to derive an offset of the magnetic data based on the data set of the statistical population when the reliability determination part determines that the reliability of the data set of the statistical population is acceptable, and configured not to derive an offset of the magnetic data set when the reliability determination part determines that the reliability of the data set of the statistical population is unacceptable;
• a correction part configured to correct the magnetic data based on the offset;
• and
• an orientation notification part configured to provide notification of an orientation based on the corrected magnetic data,
• wherein the decision criterion setting part is configured to change the decision criterion in a stepwise manner each time the reliability determination part determines whether or not the reliability of the data set of the statistical population is acceptable,
• wherein the decision criterion setting part is configured to fix the decision criterion when the decision criterion converges within a predetermined range, and
• wherein the decision criterion setting part is configured to determine whether or not the decision criterion converges within the predetermined range according to a ratio between a number of times of determination in which the reliability is determined to be acceptable and a number of times of determination in which the reliability is determined to be unacceptable while the reliability is determined by the reliability determination part a predetermined number of times.

A magnetic data processing method comprising:

• sequentially receiving magnetic data output from a magnetic sensor;
• storing a plurality of the magnetic data as a data set of statistical population;
• deriving a distribution index of the data set of the statistical population;
• determining whether or not reliability of the data set of the statistical population is acceptable based on the distribution index and a decision criterion;
• deriving an offset of the magnetic data based on the data set of the statistical population when the reliability of the data set of the statistical population is determined to be acceptable, and not deriving an offset of the magnetic data when the reliability of the data set of the statistical population is determined to be unacceptable;
• increasing strictness of the decision criterion when it is determined that the reliability of the data set of the statistical population is acceptable and decreasing the strictness of the decision criterion when it is determined that the reliability of the data set of the statistical population is unacceptable;
• changing the decision criterion in a stepwise manner each time determining whether or not reliability of the data set of the statistical population is acceptable is performed;
• determining whether or not the decision criterion converges within a predetermined range according to a ratio between a number of times of determination in which the reliability is determined to be acceptable and a number of times of determination in which the reliability is determined to be unacceptable while the determination is performed a predetermined number of times;
• and
• fixing the decision criterion when the decision criterion converges within the predetermined range.

A machine readable non-transitory medium containing a magnetic data processing program causing a computer to execute a process of:

• sequentially receiving magnetic data output from a magnetic sensor;
• storing a plurality of the magnetic data as a data set of statistical population;
• deriving a distribution index of the data set of the statistical population;
• determining whether or not reliability of the data set of the statistical population is acceptable based on the distribution index and a decision criterion;
• deriving an offset of the magnetic data based on the data set of the statistical population when the reliability of the data set of the statistical population is determined to be acceptable, and not deriving an offset of the magnetic data when the reliability of the data set of the statistical population is determined to be unacceptable;
• increasing strictness of the decision criterion when it is determined that the reliability of the data set of the statistical population is acceptable and decreasing the strictness of the decision criterion when it is determined that the reliability of the data set of the statistical population is unacceptable;
• changing the decision criterion in a stepwise manner each time determination is performed as to whether or not the reliability of the data set of the statistical population is acceptable;
• determining whether or not the decision criterion converges within a predetermined range according to a ratio between a number of times of determination in which the reliability is determined to be acceptable and a number of times of determination in which the reliability is determined to be unacceptable while the determination is performed a predetermined number of times;
• and
• fixing the decision criterion when the decision criterion converges within the predetermined range.