阅读说明：本技术 电子装置控制方法、其电子装置和软件产品 (Electronic device control method, electronic device and software product thereof ) 是由 F·里扎尔迪尼 S·P·里沃尔塔 L·布拉科 M·比安科 于 2021-04-30 设计创作，主要内容包括：公开了电子装置控制方法、其电子装置和软件产品。提供了一种用于基于容纳第一磁力计的第一硬件元件和容纳第二磁力计的第二硬件元件之间的盖角的值来控制电子装置的方法。该方法包括通过磁力计获取表示硬件元件的取向的第一信号。基于第一信号生成指示磁力计的校准的条件的校准参数。基于第一信号生成指示第一信号的可靠性的条件的可靠性值。基于第一信号计算盖角的第一中间值。基于校准参数、可靠性值和第一中间值计算盖角的当前值,并且基于当前值控制电子装置。(An electronic device control method, an electronic device thereof, and a software product are disclosed. A method for controlling an electronic device based on a value of a cover angle between a first hardware component housing a first magnetometer and a second hardware component housing a second magnetometer is provided. The method includes acquiring, by a magnetometer, a first signal representative of an orientation of a hardware component. Calibration parameters indicative of conditions of calibration of the magnetometer are generated based on the first signal. A reliability value is generated based on the first signal that indicates a condition of reliability of the first signal. A first intermediate value of the cover angle is calculated based on the first signal. A current value of the cover angle is calculated based on the calibration parameter, the reliability value, and the first intermediate value, and the electronic device is controlled based on the current value.)

1. A method for controlling at least one function of an electronic device as a function of a value of a cover angle between a first hardware element and a second hardware element of the electronic device, wherein the first hardware element houses a first magnetometer and the second hardware element houses a second magnetometer and the second hardware element is orientable relative to the first hardware element, the method comprising:

generating, by the first magnetometer and by the second magnetometer, a first signal indicative of a measurement of a magnetic field external to the electronic device and indicative of a relative orientation of the first hardware element with respect to the second hardware element;

acquiring, by a processing unit of the electronic device, the first signal;

generating, by the processing unit and from the first signal, calibration parameters indicative of conditions of calibration of the first magnetometer and the second magnetometer;

generating, by the processing unit and from the first signal, a reliability value, the reliability value being indicative of a condition of reliability of the first signal;

calculating, by the processing unit, a first intermediate value of the cover angle based on the first signal;

calculating, by the processing unit, a current value of the cover angle based on the calibration parameter, the reliability value, and the first intermediate value of the cover angle; and

controlling the function of the electronic device according to the current value of the cover angle.

2. The method of claim 1, wherein the first hardware element and the second hardware element are rotatable relative to each other about an axis of rotation,

wherein the first and second hardware elements have respective first and second surfaces that are directly confrontable with each other and define the cover angle therebetween, an

Wherein the first magnetometer is a three-axis magnetometer having a respective first, second, and third sense axis, and the second magnetometer is a three-axis magnetometer having a respective first, second, and third sense axis, the first sense axis being parallel to the rotational axis.

3. The method of claim 2, wherein calculating the first intermediate value comprises performing the following operations:

wherein Gy is₁Is a component, Gz, of the first signal detected by the first magnetometer along the respective second sensing axis₁Is a component, Gy, of said first signal detected by said first magnetometer along a respective third sensing axis₂Is a component of a second signal detected by the second magnetometer along a corresponding second sensing axis, and Gz₂Are components of the second signal detected by the second magnetometer along the respective third sensing axis.

4. The method of claim 3, wherein generating the reliability value comprises:

calculating a reliability angle based on the first signal; and

generating the reliability value based on a comparison between the reliability angle and a threshold angle.

5. The method of claim 4, wherein the reliability angle is measured between the rotation axis and the magnetic field external to the electronic device, and wherein calculating the reliability angle comprises:

calculating a first intermediate angle based on the first signal of the first magnetometer by performing the following:

or calculating a second intermediate angle based on the first signal of the second magnetometer by performing the following operations:

wherein Gx₁Is a component of the first signal detected by the first magnetometer along the respective first sensing axis, and Gx₂Is a component of the second signal detected by the second magnetometer along the respective first sensing axis; and

generating the reliability angle based on the first intermediate angle or the second intermediate angle, wherein: the reliability angle is equal to a first angle, or the reliability angle is equal to a second angle, or the reliability angle is equal to an average of the first angle and the second angle, or the reliability angle is equal to a weighted average of the first angle and the second angle.

6. The method of claim 3, wherein generating the reliability value comprises:

calculating a first reliability angle based on the first signal by performing the following operations:

wherein Gx₁Is a component of the first signal detected by the first magnetometer along the respective first sensing axis;

calculating a second reliability angle based on the first signal by performing the following operations:

wherein Gx₂Is a component of the second signal detected by the second magnetometer along the respective first sensing axis; and

generating the reliability value based on a first comparison between the first reliability angle and a threshold angle and based on a second comparison between the second reliability angle and the threshold angle.

7. The method of claim 1, wherein generating the calibration parameters comprises:

generating calibration data by a calibration parameter based on the first signal;

comparing the calibration data with corresponding comparison data, generating a result of the comparison, the result of the comparison being indicative of a need or other need to calibrate the first magnetometer and the second magnetometer; and

if the result of the comparison indicates the need to calibrate the first magnetometer and the second magnetometer, then:

calibrating the first magnetometer and the second magnetometer to generate new calibration parameters,

assigning a first value indicative of the performance of the calibration of the first magnetometer and the second magnetometer to the calibration parameter, an

Replacing the calibration parameters with the new calibration parameters generated by calibrating the first magnetometer and the second magnetometer.

8. The method of claim 7, wherein generating the calibration parameters further comprises:

if the result of the comparison does not indicate the need to calibrate the first magnetometer and the second magnetometer:

determining, based on the calibration data, whether a condition of magnetic interference has been verified at the first magnetometer and the second magnetometer; and

assigning the first value to the calibration parameter without the magnetic interference; or

Assigning a second value, different from the first value, to the calibration parameter in the presence of the magnetic disturbance.

9. The method of claim 1, wherein the reliability value is a function of the calibration parameter,

wherein calculating the current value of the cover angle comprises: recursively updating the current value of the cover angle by performing the following:

α_LID(t)＝(1-K₁')·α_LID(t-1)+K₁'·α_{LID_MAG}(t)

K₁'＝n·K₁in which K is₁Is a reliability value and has a value equal to or greater than 0 and less than or equal to 1, n is a coefficient having a value greater than 0 and less than or equal to 1, alpha_LID(t) is the current value of the cover angle, α_LID(t-1) is immediately adjacent to the current value α_LID(t) a value of the cover angle at a time before the time of (t), and a_{LID_MAG}(t) is the first intermediate value.

10. The method of claim 1, wherein the first hardware element further houses a first accelerometer and the second hardware element further houses a second accelerometer, the method of controlling further comprising:

acquiring, by the processing unit, a second signal through the first accelerometer and the second accelerometer, the second signal indicating a measurement of a relative orientation of the first hardware element and the second hardware element;

calculating, by the processing unit, a second intermediate value of the cover angle based on the second signal; and

calculating, by the processing unit, the current value of the lid angle based on the second intermediate value of the lid angle.

11. The method of claim 10, further comprising generating, by the processing unit and from the second signal, another reliability value indicative of a condition of reliability of the second signal.

12. The method of claim 11, wherein calculating the current value of the cover angle comprises performing the following operations:

K_LP·α_{LID_ACC_MAG}(t)+(1-K_LP)·α_LID(t-1)

wherein alpha is_LID(t-1) is the value of the angle at a time instant immediately preceding the time instant of the current value, K_LPIs a coefficient of 0 or more and 1 or less, and alpha_{LID_ACC_MAG}(t) is a value equal to:

the second intermediate value, if the reliability value is equal to 0 and the further reliability value is not 0; or

The first intermediate value, if the reliability value is not 0 and the further reliability value is equal to 0; or

(K₁·α_{LID_MAG}(t)+K₂·α_{LID_ACC}(t))/(K₁+K₂) If said reliability value is not 0 and said further reliability value is not 0, wherein α_{LID_MAG}(t) is the first intermediate value, and a_{LID_ACC}(t) is said second intermediate value, K₁Is the reliability value, and K₂Is the value of the further reliability value,

and wherein if said reliability value is equal to 0 and said further reliability value is equal to 0,then K is_LPEqual to 0.

13. The method of claim 1, wherein the first hardware element further houses a first gyroscope and the second hardware element further houses a second gyroscope, the method further comprising:

acquiring, by the processing unit and through the first and second gyroscopes, a second signal indicative of a measure of relative orientation of the first and second hardware elements;

calculating, by the processing unit, a second intermediate value of the cover angle based on the second signal; and

calculating, by the processing unit, the current value of the lid angle based on the second intermediate value of the lid angle.

14. The method of claim 13, wherein calculating the current value of the cover angle comprises: performing a weighted sum of the first intermediate value and the second intermediate value.

15. The method of claim 14, wherein performing the weighted sum comprises performing the following:

α_LID(t)＝K₁'·α_{LID_MAG}(t)+(1-K₁')·α_{LID_GYR}(t)

K₁′＝n·K₁in which K is₁Is the reliability value and has a value equal to or greater than 0 and less than or equal to 1, n is a coefficient having a value greater than or equal to 0 and less than or equal to 1, a_LID(t) is the current value of the angle, α_{LID_MAG}(t) is the first intermediate value, and a_{LID_GYR}(t) is the second intermediate value.

16. An electronic device, comprising:

a first hardware element housing a first magnetometer;

a second hardware element housing a second magnetometer, the second hardware element being orientable relative to the first hardware element and the second hardware element defining a cap angle with the first hardware element; and

a processing unit for processing the received data,

wherein the first magnetometer and the second magnetometer are configured to generate a first signal, the first signal being a measurement of a magnetic field external to the electronic device, and the first signal being indicative of a relative orientation of the first hardware element with respect to the second hardware element, an

Wherein the processing unit is configured to:

acquiring the first signal;

generating calibration parameters from the first signal, the calibration parameters being indicative of conditions of calibration of the first magnetometer and the second magnetometer;

generating a reliability value from the first signal, the reliability value being indicative of a condition of reliability of the first signal;

calculating a first intermediate value of the cover angle based on the first signal;

calculating a current value of the cover angle based on the calibration parameter of the reliability value and the first intermediate value of the cover angle; and

controlling a function of the electronic device according to the current value of the cover angle.

17. The electronic device of claim 16, wherein the first magnetometer is a three-axis magnetometer having a respective first axis of sensing, a respective second axis of sensing, and a respective third axis of sensing, and the second magnetometer is a three-axis magnetometer having a respective first axis of sensing, a respective second axis of sensing, and a respective third axis of sensing, the first axes of sensing being parallel to one another, and

wherein the first and second hardware elements are rotatable relative to each other around the rotation axis when the magnetic field acts in a direction parallel to the rotation axis, only the first sensing axis is acted on by the magnetic field, and the processing unit is configured to assign a predefined value indicative of unreliability of the first signal to the reliability value.

18. The electronic device of claim 16, wherein the first hardware element further houses a first accelerometer;

wherein the second hardware element further houses a second accelerometer; and wherein the processing unit is further configured to:

acquiring, by the first accelerometer and the second accelerometer, a second signal indicative of a measure of a relative orientation of the first hardware element and the second hardware element;

calculating a second intermediate value of the cover angle based on the second signal; and

calculating the current value of the cover angle based on the second intermediate value of the cover angle.

19. The electronic device of claim 16, wherein the first hardware element further houses a first gyroscope and the second hardware element further houses a second gyroscope; and

wherein the processing unit is further configured to:

acquiring, by the first gyroscope and the second gyroscope, a second signal indicative of a measure of relative orientation of the first hardware element and the second hardware element;

calculating a second intermediate value of the cover angle based on the second signal; and

calculating the current value of the cover angle based on the second intermediate value of the cover angle.

20. The apparatus of claim 16, wherein the first hardware element is associated with a first user interaction device and the second hardware element is associated with a second user interaction device, and wherein controlling the function of the electronic apparatus comprises: adjusting an operational characteristic or an operational characteristic of the first interactive device or the second interactive device according to the current value of the cover angle.

21. A non-transitory computer readable medium having contents to cause processing circuitry of an electronic device to perform a method, the electronic device including a first hardware component housing a first magnetometer and a second hardware component housing a second magnetometer, the second hardware component being orientable relative to the first hardware component and the second hardware component defining a cap angle with the first hardware component, wherein the first magnetometer and the second magnetometer are configured to generate a first signal that is a measure of a magnetic field external to the electronic device and that is indicative of a relative orientation of the first hardware component relative to the second hardware component, the method comprising:

acquiring the first signal;

generating calibration parameters from the first signal, the calibration parameters being indicative of conditions of calibration of the first magnetometer and the second magnetometer;

generating a reliability value from the first signal, the reliability value being indicative of a condition of reliability of the first signal;

calculating a first intermediate value of the cover angle based on the first signal;

calculating a current value of the cover angle based on the calibration parameter, the reliability value, and the first intermediate value of the cover angle; and

controlling a function of the electronic device according to the current value of the cover angle.

Technical Field

The present disclosure relates to an electronic device control method performed via calculation of an angle at which a cover is opened, an electronic device thereof, and a software product.

Background

As shown in fig. 1, a portable device 1 of known type (e.g. a notebook) is generally formed by two functional blocks 2, 4, wherein the functional block 2 houses a screen 2a and the functional block 4 houses a keyboard 4a and control units and memories 4b, 4 c. The functional frames 2 and 4 are coupled together by a pivot 6, the pivot 6 being configured to enable rotational movement of the functional frame 2 relative to the functional frame 4. An angle α is formed between the function frame 2 (i.e., at the screen 2a) and the function frame 4 (i.e., at the keyboard 4a)_LIDReferred to as the opening angle or the term "cover angle". E.g. angle alpha_LIDFormed between the respective surfaces of the functional blocks 2 and 4. In general, the angle α is when the surface of the functional block 4 is parallel to and directly faces the surface of the functional block 2_LIDEqual to 0 °; and the angle alpha is when the surface of the functional block 4 is parallel to the surface of the functional block 2 but oriented in the opposite direction_LIDEqual to 360 deg..

Angle alpha_LIDEnables, for example, adapting or modifying the user interface displayed by the screen 2a in order to improve the user experience of the portable device 1.

Furthermore, it is desirable to measure the angle α in portable devices such as tablet computers, foldable smartphones and external keyboards to which they are operatively coupled (e.g. integrated in the cover of the portable device and connected to the portable device by a wireless connection)_LIDTo adapt or personalize the user interface or configuration of the portable device and to provide new possibilities for its use.

For detecting angle alpha_LIDThe known solution of (2) envisages the use of accelerometers mounted on the functional block and accelerometers mounted on the functional block 4. The accelerometer provides data indicating the direction of gravity for each coordinate system centred on the accelerometer itself, enabling it to identify the position of the functional block 2 relative to the functional block 4. However, this solution is entirely based on information derived from the force gravity, and therefore it is not possible to provide useful indications for all possible orientations and arrangements of the portable device 1 in space. In fact, if the portable device 1 is oriented with the pivot axis 6 parallel to the direction of gravity (i.e. the vertical position of the portable device 1)A book-like position), this solution does not allow reliable measurements. Furthermore, accelerometers are subject to environmental vibration stimuli that may cause measurement inaccuracies or errors. In particular, considering that the accelerometer is sensitive to linear accelerations, the angle α is when the portable device is moved or subjected to external vibrations, for example when a person carrying the portable device is walking or traveling in a transport vehicle_LIDThe measurement of (a) is unreliable. A filter (e.g., a low pass filter) may be used to reduce the linear acceleration diagonal α_LIDBut this increases the estimated angle alpha_LIDThe response time of (c).

Patent document EP3407157 discloses a portable device similar to that shown in fig. 1, wherein each functional block further comprises a respective gyroscope. Using gyroscopes to improve angle alpha_LIDAnd by a data fusion method enables the measurement to be performed even when the portable device is rotated in a vertical position.

Disclosure of Invention

In various embodiments, the present disclosure provides an electronic device control method performed by a cover angle calculation, an electronic device thereof, and a software product overcoming the disadvantages of the prior art.

According to the present disclosure, there is provided an electronic device control method performed by a cover angle calculation, an electronic device thereof, and a software product.

In at least one embodiment, a method for controlling at least one function of an electronic device based on a value of a cover angle between a first hardware element and a second hardware element of the electronic device is provided. The first hardware component houses a first magnetometer and the second hardware component houses a second magnetometer, and the second hardware component is orientable relative to the first hardware component. The method comprises the following steps: generating, by the first magnetometer and by the second magnetometer, a first signal indicative of a measurement of a magnetic field external to the electronic device and indicative of a relative orientation of the first hardware component with respect to the second hardware component; acquiring, by a processing unit of an electronic device, a first signal; generating, by the processing unit and from the first signal, calibration parameters indicative of conditions of calibration of the first magnetometer and the second magnetometer; generating, by the processing unit and from the first signal, a reliability value indicative of a condition of reliability of the first signal; calculating, by the processing unit, a first intermediate value of the lid angle based on the first signal; calculating, by the processing unit, a current value of the cover angle based on the calibration parameter, the reliability value, and a first intermediate value of the cover angle; and controlling a function of the electronic device in accordance with the current value of the cover angle.

In at least one embodiment, an electronic device is provided that includes a first hardware element, a second hardware element, and a processing unit. The first hardware component houses a first magnetometer. A second hardware element houses a second magnetometer, the second hardware element being orientable relative to the first hardware element, and the second hardware element defining a cap angle with the first hardware element. The first magnetometer and the second magnetometer are configured to generate a first signal, the first signal being a measurement of a magnetic field external to the electronic device and indicative of a relative orientation of the first hardware element with respect to the second hardware element. The processing unit is configured to: acquiring a first signal; generating, from the first signal, calibration parameters indicative of conditions of calibration of the first magnetometer and the second magnetometer; generating, from the first signal, a reliability value indicative of a condition of reliability of the first signal; calculating a first intermediate value of the cover angle based on the first signal; calculating a current value of the cover angle based on the calibration parameter of the reliability value and the first intermediate value of the cover angle; and controlling a function of the electronic device in accordance with the current value of the cover angle.

In at least one implementation, a non-transitory computer-readable medium having contents to cause processing circuitry of an electronic device to perform a method is provided. The electronic device comprises a first hardware component housing a first magnetometer and a second hardware component housing a second magnetometer, the second hardware component being orientable relative to the first hardware component and the second hardware component defining a cap angle with the first hardware component, wherein the first magnetometer and the second magnetometer are configured to generate a first signal, the first signal being a measure of a magnetic field external to the electronic device and being indicative of the relative orientation of the first hardware component relative to the second hardware component. The method comprises the following steps: acquiring a first signal; generating, from the first signal, calibration parameters indicative of conditions of calibration of the first magnetometer and the second magnetometer; generating, from the first signal, a reliability value indicative of a condition of reliability of the first signal; calculating a first intermediate value of the cover angle based on the first signal; calculating a current value of the cover angle based on the calibration parameter, the reliability value, and a first intermediate value of the cover angle; and controlling a function of the electronic device in accordance with the current value of the cover angle.

Drawings

For a better understanding of the present disclosure, preferred embodiments thereof will now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which:

fig. 1 is a schematic perspective view of a portable device, in particular a notebook, configured to be able to calculate the opening angle of the screen with respect to the keyboard according to an embodiment of a known type;

fig. 2 is a schematic perspective view of a portable device, in particular a notebook, provided with a magnetometer configured to be able to calculate the opening angle of the screen with respect to the keyboard according to an embodiment;

FIG. 3 is a side view of the portable device of FIG. 2 in three alternative operating conditions;

fig. 4A-4B are schematic perspective views of the portable device of fig. 2 in respective other operating conditions;

FIG. 5 is a schematic diagram of functional blocks implemented by the portable device of FIG. 2, according to an embodiment of the present disclosure;

FIG. 5A is a schematic diagram of functional blocks included in one of the functional blocks of FIG. 5, according to an embodiment of the present disclosure;

fig. 6 is a schematic perspective view of a portable device, in particular a notebook, provided with a magnetometer and an accelerometer configured to be able to calculate the opening angle of the screen with respect to the keyboard according to different embodiments;

FIG. 7 is a schematic diagram of functional blocks implemented by the portable device of FIG. 6, according to an embodiment of the present disclosure;

fig. 8 is a schematic perspective view of a portable device, in particular a notebook, provided with a magnetometer and a gyroscope configured to be able to calculate the opening angle of the screen with respect to the keyboard according to another embodiment; and also

Fig. 9 is a schematic diagram of functional blocks implemented by the portable device of fig. 8 according to an embodiment of the present disclosure.

Detailed Description

Elements and steps common to different embodiments of the present disclosure are designated hereinafter by the same reference numerals.

Referring to fig. 2, an electronic apparatus (specifically, a portable device) 10 is shown in a three-axis cartesian reference frame XYZ defined by axes X, Y and Z, according to one aspect of the present disclosure. In the reference system XYZ, a vector g (or acceleration vector g) is considered, which represents the gravitational acceleration vector acting in a direction parallel to the axis Z and has an opposite orientation thereto, and a vector B, which represents the earth magnetic field vector (hereinafter, magnetic field B or magnetic field vector B). According to an aspect of the present disclosure, the magnetic field B acts in a plane YZ defined by the axis Y, Z, and in particular forms with the axis Y an inclination angle equal to, for example, about 45 °, and with the acceleration vector a corresponding angle equal to, for example, the inclination angle δ.

The device 10 is portable (in particular a notebook) and is here shown in an operational state in which the device is opened. The portable device 10 comprises a lid portion 12 and a base portion 14, mechanically coupled to each other by a hinge 15, which hinge 15 enables the lid portion 12 to rotate with respect to the base portion 14, forming a rotation constraint around a rotation axis R (or axis R), shown in fig. 2 by way of example parallel to axis X. The base portion 14 includes at least one interface device 16 (e.g., a keyboard and/or track pad) extending at a surface 14a of the base portion 14. The lid portion 12 includes a display area 18 (e.g., a screen or monitor) extending at a surface 12a of the lid portion 12. In the operating condition of the closing device, the surfaces 12a, 14a face each other. The lid portion 12 houses (e.g. is integrated within) a first magnetometer 20, which first magnetometer 20 is configured to detect and/or calculate the lid portion 12 relative to the magnetic field B along a respective sensing axis x₁、y₁、z₁Orientation of (a); and the base portion 14 houses (e.g., is integrated within) a second magnetometer 22, the second magnetometer 22 being configured to detect and/or calculate the relative position of the base portion 14 along a respective sensing axis x with respect to the magnetic field B₂、y₂、z₂Of (c) is performed. The first magnetometer and the 20 second magnetometer 22 are configured to generate a first magnetic field signal (hereinafter, first signal B), respectively₁) And a second magnetic field signal (hereinafter, second signal B)₂). Typically, the first magnetometer 20 and the second magnetometer 22 are configured to detect orientation changes of the portable device 10 by means of measurements of the magnetic field B. The first magnetometer 20 and the second magnetometer 22 are, for example, magnetometers obtained with MEMS technology (e.g., MEMS magnetometers based on AMR, anisotropic magnetoresistive technology). In particular, the first signal B₁Indicating along the sensing axis x₁、y₁、z₁Of the magnetic field B, and a second signal B₂Indicating along the sensing axis x₂、y₂、z₂Of the magnetic field B.

It is pointed out here that in the embodiment of the portable device 10 considered here, the axis R of the hinge 15 is always parallel to the sensing axis x under any operating conditions (lid portion 12 closed or open) and for any orientation of the device 10 in the three-axis reference system XYZ₁、x₂。

The portable device 10 further comprises a processing unit comprising a microcontroller or control unit 27 and a memory 28 coupled together. The control unit 27 and/or the memory 28 are also operatively coupled to the first magnetometer 20 and the second magnetometer 22 for receiving therefrom respective signals B generated according to the operation known per se of the magnetometers₁、B₂. Signal B received at input from control unit 27₁、B₂Is processed as better described below with reference to fig. 5.

In particular, the first magnetometer 20 and the second magnetometer 22 are configured to detect a change in the mutual orientation between the lid portion 12 and the base portion 14 (e.g. opening and closing of the lid portion 12 relative to the base portion 14 due to the hinge 15 causing the lid portion 12 to rotate about the axis R). In the latter case, in particular, the first magnetometer 20 and the second magnetic forceThe meter 22 is used to determine the opening angle alpha_LIDThe opening angle alpha_LIDIs the sensing axis y for the respective first magnetometer 20 and second magnetometer 22₁And a sensing axis y₂The complement of the angle therebetween. Thus, the opening angle α_LIDIs associated with the angle existing between surface 12a of cover portion 12 and surface 14a of base portion 14, and is also referred to as the "cover angle". In use, the cover angle α can be adjusted_LIDIs associated with the usage pattern of the portable device 10 (e.g., the cover angle α has a value of about 130 °)_LIDCover angle alpha with a 360 deg. value representing laptop computer usage pattern_LIDIndicating a tablet usage pattern). Thus, the graphical interface represented in the display area 18 may be adapted to the type of operation mode, or to other operating parameters of the portable device 10, for example enabling a touch screen function when a tablet usage mode is detected, or still changing other parameters, for example if the cover angle α is detected_LIDIs greater than/less than a certain threshold, the display area 18 or the portable device 10 is turned on/off.

FIG. 3 illustrates the portable device 10 of FIG. 2 in a side view in the plane YZ, with the lid portion 12 represented as three possible operating conditions S1-S3: the lid portion 12 is closed on the base portion 14 defining a lid angle α_LIDA value of zero (S1); the lid portion 12 defines a lid angle α relative to the base portion 14_LIDAt 90 ° (S2); and the lid portion 12 defines a lid angle α relative to the base portion 14_LIDIs 180 ° (S3).

In operating condition S1-S3, the cover angle α_LIDIs the sensing axis y of the magnetometers 20 and 22₁And a sensing axis y₂Relative angle therebetween (in detail, axis y)₁Positive half axis and axis y₂And since the sensing axis y has been assumed) and₁、y₂parallel to the surfaces 12a, 14a of the lid portion 12 and the base portion 14, so the lid angle α_LIDAnd also the relative angle between the surfaces 12a, 14a of the lid portion 12 and the base portion 14. In other words, the cover angle α_LIDCoinciding with the opening angle (or lid angle) of the lid portion 12 relative to the base portion 14. Likewise, in the axis z₁And z₂In particular, in the axis z₁Positive half axis and axis z₂Between the negative half-axes of) may also define the same angular amount, which is always perpendicular to the surfaces 12a, 14 a.

From operating condition S1 to operating condition S2 (or likewise from operating condition S2 to operating condition S3), the first magnetometer 20 detects a component of the magnetic field B along the axis z₁And y₁And this enables the cover angle alpha to be determined_LIDIncreased (conversely, in the course of from operating condition S2 to operating condition S1 or from operating condition S3 to operating condition S2, the situation is reversed).

It is particularly noted that in operating condition S1 the magnetic field B is formed by the magnetic field in axis y₁、z₁The first value detected above gives that the magnetic field B is defined by the magnetic field on the axis y in the operating condition S2₁、z₁Is given by the above detected second value, which is different from the first value.

To calculate the cover angle alpha_LIDMay utilize the projection of the magnetic field B on the respective three sensing axes of the first magnetometer 20 and the second magnetometer 22, while taking into account the constraints due to the presence of the hinge 15. In this case, the angle α calculated by the magnetometers 20, 22 is obtained by applying the following expression_LIDValue of alpha_{LID_MAG}：

Wherein arctan2 is a known trigonometric function, Gz₁Is the first magnetometer 20 along the sensing axis z₁Component of the detected magnetic field B, Gy₁Is the first magnetometer 20 along the sensing axis y₁Component of the detected magnetic field B, Gz₂Is the second magnetometer 22 along the sensing axis z₂The component of the detected magnetic field B, Gy2, is the second magnetometer 22 along the sensing axis y₂The component of the detected magnetic field B. The value α measured via the magnetometers 20, 22, as expressed by equation (1)_{LID_MAG}Indicating the relative orientation (i.e., not an absolute orientation in space) between the cover portion 12 and the base portion 14.

FIG. 4A showsA mode of use of the portable device 10, wherein the portable device 10 is oriented with an axis R parallel to the magnetic field vector B. In this case, entering the operating conditions S1-S2-S3 does not cause the sensing axis z along the first magnetometer 20 and the second magnetometer 22 to be along₁、z₂And y₁、y₂Because the component of the magnetic field B along the axis is always zero or substantially zero (i.e., the value Gz in equation (1))₁、Gz₂、Gy₁、Gy₂Approximately equal to zero). Thus, in this case, the value α_{LID_MAG}Cannot be calculated accurately. As described with reference to fig. 4A, in a manner obvious in itself, may also be applied to operating conditions (not shown) in which the portable device 10 is oriented with the axis R parallel to the magnetic field vector B, but rotated by 180 ° with respect to the orientation shown in fig. 4A.

Referring to FIG. 4B, an intermediate case of orientation is shown in which axis R forms a reliability angle with magnetic field vector B that is not 0 and less than or equal to 90. Intermediate cases of these orientations lead to a measured value α_{LID_MAG}The larger the errors of (B), the closer they are to the condition of FIG. 4A (parallel to the axis R of the magnetic field vector B), i.e., the reliability angleThe closer to 0.

At the sensing axis x₁And x₂Parallel to the magnetic field B and sensing axis y₁And y₂In the operating condition perpendicular to the magnetic field B (FIG. 4A), the component Gx₁And Gx₂Has a maximum value, and a component Gy₁And Gy₂Has a minimum value; in contrast, at the sensing axis x₁And x₂Perpendicular to the magnetic field B and sensing axis y₁And y₂Component Gx in operating conditions parallel to the magnetic field B₁And Gx₂Has a minimum value, and a component Gy₁And Gy₂With maximum values (minimum and maximum values depending on the type of inertial sensor used and defined by the manufacturer).

Thus, the value α_{LID_MAG}Is calculated with a first reliability angleAssociated, first angle of reliabilityRepresenting the reliability angle via the magnetometers 20, 22The measurement of (2).

According to one aspect of the disclosure, a first angle is calculated via the first magnetometer 20 according to the following expression

Thus, the first cornerVarying between 0 ° and 90 °. Likewise, a second angle is calculated via the second magnetometer 22

First angle of reliabilityFrom the first cornerAnd/or second angleAnd (4) correlating. According to one aspect of the disclosure, a first reliability angleEqual to the first angleOr equal to the second angleAccording to various aspects of the disclosure, the first reliability angleEqual to the first angleAnd a second angleIs calculated (optionally, weighted average).

If the first reliability angleGreater than a threshold angleThen the value alpha_{LID_MAG}Is considered reliable; and if the first reliability angleLess than or equal to the threshold angleThe value alpha is considered_{LID_MAG}The measurement of (a) is unreliable. For example, the threshold angleEqual to about 20. Alternatively, only when the angle is rightAre all greater than the threshold angleThen, consider the value α_{LID_MAG}Is reliable.

In accordance with one aspect of the present disclosure, the control unit 27 is configured to perform the operations shown in fig. 5 and described below, with possible support of the memory 28. Fig. 5 is a schematic diagram of the functional blocks implemented by the control unit 27 and the memory 28 in software and in an iterative manner.

It is obvious that the functional blocks of fig. 5 can be implemented in hardware in a manner that will be apparent to those skilled in the art.

Specifically, at each time (or iteration) t (e.g., 0)<t<N，N>1) The control unit 27 acquires the first signal B via the first magnetometer 20 and the second magnetometer 22, respectively₁And a second signal B₂. First signal B₁Representing (e.g., including) component Gx₁、Gy₁And Gz₁(specifically, Gx)₁(t)、Gy₁(t) and Gz₁(t)), second signal B₂Representing (e.g., including) component Gx₂、Gy₂And Gz₂(specifically, Gx)₂(t)、Gy₂(t) and Gz₂(t))。

The calibration block 49 receives the component Gx at input₁(t)、Gy₁(t)、Gz₁(t)、Gx₂(t)、Gy₂(t) and Gz₂(t) and returns at the output a first calibration value J indicating the possible presence of magnetic interference and distortion of the magnetometers 20, 22₁. Typically, the first calibration value J₁Related to the reliability of the calibration of the magnetometers 20, 22. First calibration value J₁May be a single threshold (reliable/unreliable calibration, e.g. J, respectively)₁1 and J₁0) or a value proportional to the degree of reliability of the detected calibration.

With reference to a first calibrated value J₁Taking the binary value, the calibration box 49 is shown in detail in fig. 5A.

In block 49a, the first calibration value J is set₁Initialization is 0 (unreliable calibration). Furthermore, in block 49a, the control unit 27 obtains a calibration number via the magnetometers 20, 22According to D₁(e.g., equal to signal B)₁、B₂Or comprises a signal B acquired in a first calibration interval₁、B₂The processing result of (1). Furthermore, at the first iteration (t ═ 1), as better described below, a calibration is performed in order to generate calibration parameters P associated with the electromagnetic conditions to which the magnetometers 20, 22 are subjected_cal. In particular, the parameter P is calibrated_calIncluding the soft iron matrix (SI) and the hard iron vector (HI), and is calculated in a manner known per se. Furthermore, in the first iteration (t ═ 1) and in subsequent iterations (t ═ 1)>1) Based on the calibration data D₁And a calibration parameter P_calGenerating calibration data D₂. Specifically, calibration data D₂Is via a calibration parameter P_calCalibration data D of execution₁As a result of the processing of (1).

In block 49b, following block 49a, conditions are evaluated with respect to the calibration of the magnetometers 20, 22. In particular, it is determined whether a calibration of the magnetometers 20, 22 is required or desired to be performed. This calibration makes it possible to compensate for the electromagnetic effects to which the magnetometers 20, 22 are subjected due to factors such as the variation in the magnetization time of components arranged in the vicinity of the magnetometers themselves or the presence of ferromagnetic materials. Specifically, in block 49b, the control unit 27 compares the calibration data D₂Compared to an expected range (e.g., defined between about 0.25 gauss and about 0.75 gauss), which correlates to an expected strength of the earth's magnetic field. If the calibration data D₂Euclidean norm | D of₂If the first relation is satisfied at the current iteration t (e.g. it is contained within the expected range and is for example contained between about 0.25 gauss and about 0.75 gauss, including extrema), then the calibration condition of the magnetometers 20, 22 yields a negative result and no new calibration needs to be performed; if the calibration data D₂Euclidean norm | D of₂If the first relation is not satisfied at the current iteration t (e.g. it is not included in the expected range and e.g. it is less than 0.25 gauss or more than 0.75 gauss), then the calibration condition of the magnetometers 20, 22 yields a positive result and a new calibration is necessary.

Calibration of the magnetometers 20, 22 is performed if necessaryQuasi (output yes from block 49b), the calibration is performed according to known techniques (e.g. by a spherical or ellipsoidal fitting algorithm) in block 49c, in case output yes, block 49c follows block 49 b. In particular, the operator is free to rotate the portable device 10 in three-dimensional space, while the control unit 27 acquires the signal B by means of the magnetometers 20, 22 during a second calibration interval₁、B₂. Signal B acquired during a second calibration interval₁、B₂According to the parameters P for generating new calibration parameters_calIs processed, new calibration parameters P_calReplacing the previous calibration parameter P_cal. During a second calibration interval, the first calibration value J₁Is set to 0.

In a frame 49d following the frame 49c, a first calibration value J₁Is set to 1 to indicate that the calibration is reliable.

If the calibration of the magnetometers 20, 22 need not be performed ("no" output from block 49b), then conditions regarding magnetic interference (e.g., interference caused by electromagnetic sources disposed in the vicinity of the portable device 10) are evaluated. Specifically, in the case of the output "no", in block 49e following block 49b, it is determined whether the magnetometers 20, 22 are subject to magnetic interference. In particular, the calibration data D is evaluated in time₂To determine whether the magnetometers 20, 22 are subject to magnetic interference. In more detail, if the calibration data D₂Euclidean norm | D of₂If the second relation is satisfied (e.g., it does not change significantly in time), then the examination of the condition for magnetic interference yields a negative result and there is no magnetic interference; if the Euclidean norm | D of the calibration data D2₂If the second relation is not satisfied (e.g. it varies significantly in time), then the examination of the condition for magnetic interference yields a positive result and magnetic interference is present. For example, if the Euclidean norm | D of the calibration data D2₂If the variance of | is smaller than a given threshold, the second relation is satisfied.

If there is no magnetic interference ("NO" output from block 49e), the process described at block 49d is performed again, and then the first calibration value J is set₁Set to 1 to indicate that the calibration is reliable.

If there is magnetic interference (output yes from block 49e), then in the case of output yes, the first calibration value J is set in block 49f after block 49e₁Set to 0 to indicate that the calibration is not reliable.

At the output of the calibration block 49, there is thus a first calibration value J₁If it is equal to 0, this indicates that the calibration is not reliable (so the value α_{LID_MAG}Is unreliable) and if it is equal to 1, it indicates that the calibration is reliable (so the value a_{LID_MAG}Can be reliable, as described below).

Referring to fig. 5, in a typical use condition of the portable device 10, the base portion 14 is located in a horizontal plane XY, placed on a desired flat surface. Since the magnetometers 20, 22 are in fixed positions and the orientations of the respective sensing axes are known, the cover angle α can be calculated via the control unit 27_LIDValue of alpha_{LID_MAG}(in particular,. alpha.)_{LID_MAG}(t)) (in particular, α represented by equation (1))_LID(t)). In particular, the first calculation block 50 implements equation (1), receiving at input the component Gx₁(t)、Gy₁(t)、Gz₁(t)、Gx₂(t)、Gy₂(t)、Gz₂(t), return cover angle α at output_LID(t) value α_{LID_MAG}(t)。

The first reliability block 52 receives at input the components Gx from the first magnetometer 20 and the second magnetometer 22₁(t)、Gy₁(t)、Gz₁(t)、Gx₂(t)、Gy₂(t)、Gz₂(t) and performing equation (2) for calculating a first reliability angle(in particular) As previously described. The first reliability angle is then used as described previouslyAngle with threshold valueMaking a comparison to determine the calculated value alpha_{LID_MAG}(t) reliability. Thus, the first reliability block 52 generates the first reliability value K at the output₁It may be a single threshold (reliable/unreliable, e.g. K)₁1 and K₁0) or a value proportional to the detected degree of reliability. In the latter case, a plurality of first reliability angles can be envisagedSuch that the first reliability value K is₁Will vary according to a step function, associating different first reliability values K when each threshold value provided is exceeded₁. Thus, the member Gx₁(t) and Gx₂The more (t) is reduced, and the more the components Gy1(t), Gy2(t), Gz1(t), and Gz2(t) are increased, the first reliability value K₁Will vary between a minimum and a maximum; minimum reliability value K₁May be zero and the maximum reliability value K₁Selecting between 0 (excluded) and 1 according to considerations that will be made below with reference to block 56. Furthermore, the first reliability value K₁And a first calibration value J₁And (4) correlating. In particular, if the first calibration value J₁Equal to 0 (calibration unreliable), the first reliability value K₁Is set to 0 (value alpha)_{LID_MAG}(t) unreliable measurements); if the first calibrated value J₁Equal to 1 (reliable calibration), the first reliability value K is determined on the basis of what has been described previously₁. Also, if the first calibrated value J is₁Taking the proportional value, the first reliability value K is obtained₁Is determined based on the foregoing and in a known manner (e.g., K)₁＝K₁·J₁) As a first calibrated value J₁Is weighted.

The determination block 53 receives at input the first reliability value K from the first reliability block 52₁And the value alpha from the first calculation block 50_{LID_MAG}(t) and determining the cover angle alpha_LID(t)。

In accordance with one embodiment of the present invention,wherein the first reliability value K₁Taking the binary value, if K₁1 (i.e., if the value α_{LID_MAG}(t) measurement is reliable), cover angle α_LID(t) is equal to the value α_{LID_MAG}(t) and if K₁0 (i.e., if the value α_{LID_MAG}(t) is unreliable), cover angle α_LID(t) is independent of the value α_{LID_MAG}(t) of (d). For example, if K₁0, cover angle α_LID(t) is not updated, so α_LID(t) is equal to alpha_{LID_MAG}(t-1). At the first iteration (t ═ 1), the value α_{LID_MAG}(t) cover angle α in the case of unreliable measurement_LID(t) is set equal to a predefined value; for example, it is set to 0 °.

According to various embodiments, wherein the first reliability value K₁Taking the proportional value, the cover angle alpha_LID(t) based on the value α_{LID_MAG}(t) and as a first reliability value K₁Is calculated by means of a dynamic low-pass filter or a complementary filter. For example, the cover angle α_LID(t) is calculated by the following expression:

α_LID(t)＝(1-K₁')·α_LID(t-1)+K₁'·α_{LID_MAG}(t) (rad)(3)

wherein K₁'＝n·K₁N-1 according to one aspect of the disclosure, or 0 according to another aspect of the disclosure<n＝n_max(e.g. n)_max0.1) in order to reduce the noise of the magnetometers 20, 22. At the first iteration (t ═ 1), the value α_{LID_MAG}(t) cover angle α in the case of unreliable measurement_LID(t) is set equal to a predefined value; for example, it is set to 0 °. In addition, in the first iteration (t ═ 1), the value α corresponding to the previous instant t-1 is due to_LID(t-1) is absent, e.g. α_LID(t) is set equal to alpha_{LID_MAG}(t) or set to a predefined value.

Optionally, the cover angle α_LIDCan directly and explicitly take into account the first calibration value J₁. In this case, the first reliability value K₁And a first calibration valueJ₁Not relevant, and equation (3), e.g., implemented in determination block 53, is replaced by the following expression:

α_LID(t)＝(1-J₁·K₁)·α_LID(t-1)+J₁·K₁·α_{LID_MAG}(t) (rad) (3-continuation)

Fig. 6 shows the portable device 10 in a different embodiment, similar to the portable device 10 shown in fig. 2.

In particular, with reference to the embodiment of fig. 6, the lid portion 12 further houses (e.g. is integrated within) a first accelerometer 30, the first accelerometer 30 being configured to detect and/or calculate the lid portion 12 along a sensing axis x parallel to the first magnetometer 20, respectively₁、y₁、z₁Corresponding sensing axis x₃、y₃、z₃An acceleration value of; and the base portion 14 also houses (e.g., is integrated within) a second accelerometer 32, the second accelerometer 32 being configured for detecting and/or calculating the orientation of the base portion 14 along a sensing axis x that is respectively parallel to the second magnetometer 22₂、y₂、z₂Corresponding sensing axis x₄、y₄、z₄The acceleration value of (1). It is pointed out here that in the embodiment considered here, the axis R of the hinge 15 is always parallel to the sensing axis x under any operating conditions (lid portion 12 closed or open) and for any orientation of the device 10 in the three-axis reference frame XYZ₁、x₂、x₃、x₄. The first accelerometer 30 and the second accelerometer 32 are operatively coupled to the control unit 27 and/or the memory 28 and are configured to detect a change in movement and/or orientation of the portable device 10 by measuring acceleration. The first accelerometer 30 and the second accelerometer 32 are for example accelerometers obtained with MEMS technology.

In particular, as already described with reference to fig. 3, from operating condition S1 to operating condition S2 (or likewise from operating condition S2 to operating condition S3), the first accelerometer 30 detects a component of the gravitational acceleration g along the axis z₃And y₃And determining the angle alpha_LIDHas increased (from operating condition S2 to operating condition S1 or from operating condition SS3 to operating condition S2, vice versa).

It is particularly noted that in operating condition S1, the gravitational acceleration g is only induced along the axis z₃The detected value is given, whereas in operating condition S2 the gravitational acceleration g is given only by the acceleration along axis y₃The detected value is given. Under intermediate conditions, e.g. when the angle α_LIDEqual to 45 DEG, two axes y₃And z₃Resulting in the same acceleration value.

In operating condition S1, the axis z is sensed₃Parallel to the gravitational acceleration vector g (gravitational acceleration vector g on axis z)₃Maximum projection of) in the operating condition S2, the sensing axis z₃Is orthogonal to the gravitational acceleration vector g (the gravitational acceleration vector g is on the axis z)₃The projection of) is minimum), and in the operating condition S3, the sensing axis z is the minimum₃Parallel to the gravitational acceleration vector g, but having an opposite orientation compared to the operating condition S1 (the gravitational acceleration vector g being on the axis z)₃The projection on is largest but with opposite sign).

To calculate the angle alpha_LIDMay utilize the projection of the gravitational acceleration vector g on the respective three sensing axes of the first accelerometer 30 and the second accelerometer 32, while taking into account the constraints due to the presence of the hinge 15. In this case, the angle α_LIDValue of alpha_{LID_ACC}Can be calculated as:

wherein arctan2 is a known trigonometric function, Az₃For the first accelerometer 30 along the sensing axis z₃Detected acceleration value, Ay₃For the first accelerometer 30 along the sensing axis y₃Detected acceleration value, Az₄For the second accelerometer 32 along the sensing axis z₄Detected acceleration value, Ay₄For the second accelerometer 32 along the sensing axis y₄The detected acceleration value. Equation (4) shows the value a measured via the accelerometers 30, 32_{LID_AC}How the relative orientation between the lid portion 12 and the base portion 14 is expressed (i.e., not spatiallyAbsolute orientation).

Entering the operating conditions S1-S2-S3 does not cause the sensing axis Z of the first and second accelerometers 30, 32 to be along when the portable device 10 is oriented with the axis R parallel to the axis Z, i.e., parallel to the gravity vector g (the portable device 10 opens like a book)₃、z₄、y₃And y₄Because the component of the gravitational acceleration g along the axis shown is always zero or substantially zero (value Az of equation (4))₃、Az₄、Ay₃And Ay₄Approximately equal to zero).

A case of intermediate orientation, in which the R axis makes an angle of less than 90 DEG but greater than 0 DEG with the Z axis, resulting in a value alpha_{LID_ACC}The closer the measurement of (a) is to the condition that the R axis is parallel to the Z axis, the greater the error.

The content described above can also be applied to this operating condition in a manner that is obvious in itself, in which the portable device 10 is oriented with an axis R parallel to the axis Z, but rotated by 180 ° with respect to what has been discussed above.

In particular, the value α_{LID_ACC}Is thus in a second reliability angle with respect to the first reliability angleAssociated with the second reliability angleRepresenting the angle of reliability via the accelerometers 30, 32The measurement of (2).

According to one aspect of the disclosure, the third cornerCalculated via the first accelerometer 30 according to the following expression:

wherein Ax₃Is measured by the first accelerometer 30 along the sensing axis x₃The detected acceleration value. Thus the third cornerVarying between 0 ° and 90 °. Likewise, a fourth angle is calculated via the second accelerometer 32

Second angle of reliabilityAnd the third cornerAnd/or the fourth cornerCorrelation, as previously referred to with respect to the first reliability angleDescribed herein.

If the second reliability angleGreater than another threshold angle (e.g., equal to the threshold angle)) Then value of alpha_{LID_ACC}Is considered reliable if the second reliability angleIs less than or equal to said further threshold angle, the value alpha_{LID_ACC}Is considered unreliable. Alternatively, only when there are two cornersAre all greater than another threshold angle, the value alpha is considered_{LID_ACC}Is reliable.

To prevent the angle alpha_LIDExhibits lower and lower reliability as they approach the condition of fig. 4A (parallel to the axis R of the magnetic field B), as described for the portable device 10 of fig. 2, in the embodiment of fig. 6 the measurements obtained by the first and second accelerometers 30, 32 are merged with the measurements obtained by the first and second magnetometers 20, 22; for example, the measurements obtained from the first and second accelerometers 30, 32 are weighted more (and correspondingly, the measurements obtained from the first and second magnetometers 20, 22 are weighted less), the smaller the angle between the axis R and the magnetic field B (i.e., closer to the condition of fig. 4A). In this way, the angle α is guaranteed both when the axis R is parallel to the magnetic field B and when the axis R is parallel to the gravitational acceleration g (i.e. parallel to the axis Z)_LIDThe reliability of the measurement of (2). Since the magnetic field B and the gravitational acceleration g are orthogonal to each other, the angle α, as described more fully below_LIDThe measurement of (a) is always reliable.

According to one aspect of the present disclosure, the control unit 27 is also operatively connected to the accelerometers 30, 32, optionally supported by the memory 28, and is configured to perform the operations shown in fig. 7 and described below. Fig. 7 is a schematic diagram of functional blocks similar to those shown in fig. 5.

Furthermore, in particular, the second calculation block 55 is as shown in fig. 7 and is configured to receive, at input, the acceleration values detected by the first and second accelerometers 30, 32 (including in detail the component Ay)₃、Az₃、Ay₄And Az₄) And calculating the cover angle alpha based on equation (4)_LIDValue of alpha_{LID_ACC}。

Optionally, there is also a second reliability block 54 that receives at input the component Ax from the first accelerometer 30 and the second accelerometer 32₃(t)、Ay₃(t)、Az₃(t)、Ax₄(t)、Ay₄(t) and Az₄(t) and equation (5) is implemented to calculate a second reliability angle(in particular). As previously referred to with respect to the first reliability angleThen, the second reliability angle is setIs compared with another threshold angle to determine the value alpha_{LID_ACC}(t) reliability of the calculation. Thus, the second reliability block 54 generates at the output a value similar to the first reliability value K₁The second reliability value K2.

The first fusion box 56 in fig. 7, which replaces the determination box 53 of fig. 5, has a first reliability value K based₁And/or the second reliability value K2 generates the cover angle alpha_LIDIs considered to be a reliable function of the final value. The first fusion box 56 receives the first reliability value K at input₁And/or a second reliability value K₂And a value alpha calculated according to equation (1) (i.e. using only the signals of the magnetometers 20, 22) and according to equation (4) (i.e. using only the signals of the accelerometers 30, 32), respectively_{LID_MAG}And alpha_{LID_ACC}And both.

According to one embodiment, the first fusion block 56 implements a low-pass filter enabling filtering of the noise of the magnetometers 20, 22 and the linear acceleration of the accelerometers 30, 32, said filter being defined by the following expression:

α_LID(t)＝K_LP·α_{LID_ACC_MA G}(t)+(1-K_LP)·α_LID(t-1)(rad) (6)

wherein K_LPIs a coefficient comprised between 0 and 1 (for example, it is equal to 0.1), and α_{LID_ACC_MA G}(t) is a value defined as:

if K is₁0 and K₂Not equal to 0 (i.e. magnetometers 20, 22 are unreliable, while accelerometers 30, 32 are reliable), then

α_{LID_ACC_MA G}(t)＝α_{LID_ACC}(t)

If K is₁Not equal to 0 and K₂0 (i.e., accelerometers 30, 32 are not reliable, while magnetometers 20, 22 are reliable), then

α_{LID_ACC_MA G}(t)＝α_{LID_MAG}(t)

If K is₁Not equal to 0 and K₂Not equal to 0 (i.e., the accelerometers 30, 32 and magnetometers 20, 22 are reliable), then

I.e. the value alpha_{LID_ACC_MAG}(t) is the value alpha_{LID_MAG}(t) and alpha_{LID_ACC}(t), wherein the weight is a reliability parameter K₁，K₂。

Furthermore, if K₁0 and K₂0 (i.e., the accelerometers 30, 32 and magnetometers 20, 22 are unreliable), the coefficient K is then_LPIs set to 0 so that the cover angle alpha_LIDThe estimated value of (t) is not updated, so α_LID(t)＝α_LID(t-1)。

Furthermore, optionally, another calibration block of per se known type, similar to the calibration block 49 and not shown, receives at input the component Ax₃(t)、Ay₃(t)、Az₃(t)、Ax₄(t)、Ay₄(t) and Az₄(t) verifying whether the component is calibrated and returning the calibrated component at the output (if the component at the input is calibrated, the component at the output is equal to the component at the input, whereas if the component at the input is not calibrated, the component at the output is different from the component at the input).

According to a different embodiment, illustrated in fig. 8 and similar to that illustrated in fig. 2, the cover portion 12 also houses (e.g. is integrated within) a first gyroscope 40, the first gyroscope 40 being configured to detect and/or calculate the position of the cover portion 12 along the sensing axis i₁、m₁、n₁And around the sensing axis l₁、m₁、n₁Orientation and rotation of, sensing axis l₁、m₁、n₁Are respectively parallel to the sensing axis x of the first magnetometer 20₁、y₁、z₁(ii) a And the base portion 14 also houses (e.g. is integrated within) a second gyroscope 42, the second gyroscope 42 being configured to detect and/or calculate the orientation of the base portion 14 along and around a sensing axis x parallel to the second magnetometer 22, respectively₂、y₂、z₂Sensing shaft l₂、m₂、n₂Orientation and rotation of (c). It is pointed out here that in the embodiment considered here, the axis R of the hinge 15 is always parallel to the sensing axis x under any operating conditions (lid portion 12 closed or open) and for any orientation of the device 10 in the three-axis reference frame XYZ₁、x₂、l₁、l₂. The first and second gyroscopes 40, 42 are operatively coupled to the control unit 27 and/or the memory 28 and are configured to detect movements of the portable device 10 by measuring angular velocities. The first gyroscope 40 and the second gyroscope 42 are, for example, gyroscopes obtained using MEMS technology.

To prevent the angle alpha_LIDThe closer they are to the condition of fig. 4A (parallel to the axis R of the magnetic field B), as described for the portable device 10 of fig. 2, in the embodiment of fig. 8 the measurements obtained from the first 40 and second 42 gyroscopes are merged with the measurements obtained from the first 20 and second 22 magnetometers; for example, the measurements obtained from the first and second gyroscopes 40, 42 are more heavily weighted (and correspondingly, the measurements obtained from the first and second magnetometers 20, 22 are less heavily weighted), the angle between the axis R and the magnetic field B decreases the more (i.e., closer to the condition of fig. 4A). Thus, even in the case where the axis R is parallel to the magnetic field B, the angle α is ensured_LIDThe reliability of the measurement of (2).

The fusion of the measurements of the magnetometers 20, 22 with the measurements of the gyroscopes 40, 42 is not performed occasionally: as better described below, according to one aspect of the present disclosure, complementary filters are used (although other types of filtering, such as kalman filtering, may also be used), and the magnetometer components are rejected or attenuated the more the angle between the axis R and the magnetic field B decreases. The magnetometric component has in particular the function of correcting the drift of the angle calculated by the gyroscopes 40, 42.

The gyro contributions obtained by the measurements of the first and second gyroscopes 40 and 42 obtained at the current time t are given by:

Δ_α＝(ω_x2-ω_x1)·dt (rad)(7)

wherein, ω is_x1Is formed by a first gyroscope 40 with respect to the sensing axis l₁Measured angular velocity, omega_x2Is formed by a second gyroscope 42 with respect to the sensing axis l₂The measured angular velocity. The value dt represents the time elapsed between the instant t-1 and the instant t (data sampling or data acquisition time of the gyroscopes 40, 42, which in turn may depend on the update time of the system, for example comprised between 25 hz and 200 hz). For example, if sampling of the outputs of gyroscopes 40, 42 occurs at 100 hertz, parameter dt equals 0.01 seconds.

According to an aspect of the present disclosure, the control unit 27 is also operatively connected to the gyroscopes 40, 42, possibly supported by the memory 28, and is configured to perform the operations illustrated in fig. 9 and described hereinafter. Fig. 9 is a schematic diagram of functional blocks similar to those shown in fig. 5.

In particular, fig. 9 also comprises a third calculation block 58 configured to receive at input the angular velocity values ω detected by the first 40 and second 42 gyroscopes_x1、ω_x2And calculates the cover angle alpha based on the equation (8) with reference to_LIDValue of alpha_{LID_GYR}。

To this end, the third calculation block 58 comprises a sub-block 58a, the sub-block 58a being configured for calculating (at time t) the cover angle α according to equation (7) provided above_LIDValue of alpha_LID(t) value α with respect to the previously measured (at the previous instant t1)_LIDChange of (t-1) < delta >_α。

Furthermore, the third calculation block 58 includes another sub-block 58b configured for receiving the cover angle α calculated and considered reliable (e.g., generated at the output of the second fusion block 60 described below)_LIDChange value of delta_αAnd the last value alpha_LID(t-1) and use of variantsChange value delta_αUpdating the cover angle alpha in a recursive manner_LIDSaid last value of a_LID(t-1). Thus, the sub-box 58b implements the following expression:

α_{LID_GYR}(t)＝Δ_α+α_LID(t-1) (rad)(8)

the second fusion box 60 has a first reliability value K based on the calculation by the first reliability box 52₁Generating a cover angle alpha_LIDIs considered to be a reliable function of the final value. The second fusion block 60 receives at input the variation values Δ obtained according to equation (1), i.e. using only the signals of the magnetometers 20, 22, and according to equation (8), respectively, i.e. by making use of the measurements provided via the gyroscopes 40, 42_αTo update the value alpha_LID(t-1)) calculated value alpha_{LID_MAG}(t)、α_{LID_GYR}(t)。

According to one embodiment, the second fusion box 60 implements the value α according to the following expression_{LID_MAG}(t) and alpha_{LID_GYR}Complementary filters between (t):

α_LID(t)＝K₁'·α_{LID_MAG}(t)+(1-K₁')·((ω_x2-ω_x1)·dt+α_LID(t-1)) (9)

wherein K₁'＝n·K₁N-1 according to one aspect of the disclosure, or 0 according to a different aspect of the disclosure<n≤n_max(e.g., n)_max0.1) in order to reduce the noise of the magnetometers 20, 22.

In particular, since the value α does not exist at the first iteration (t ═ 1)_LID(t-1), e.g. alpha_LID(t) is set equal to α_{LID_MAG}(t) or set to a predefined value (e.g., 0 °).

The advantages offered thereby will become apparent upon examination of the disclosed features provided in accordance with the present disclosure.

Specifically, a lid angle α between the lid portion 12 and the base portion 14 is calculated_LIDDoes not require calculation of the absolute orientation of the lid section 12 and base section 14, unlike the prior art, in which the absolute orientation of the respective functional blocks in space is measured, relative to the base sectionThis requires calculation of the lid angle.

In particular, the presence of magnetometers 20, 22 can reduce the overall cost of the portable device 10. Furthermore, the magnetometers 20, 22 are not affected by linear acceleration and time drift. The magnetometers 20, 22 ensure reliable measurements when the portable device 10 is opened like a book (i.e. when the axis R is parallel to the gravitational acceleration g).

Furthermore, as described above, the first reliability value K associated with the reliability evaluation of the measurements obtained by the magnetometers 20, 22 is used₁The method of the present disclosure is made adaptive as a function of various operating conditions and the life of the magnetometer itself.

Real-time calibration of magnetometers 20, 22 prevents magnetic interference (box 49e) and magnetic distortion (box 49b) from affecting the cover angle α_LIDThe measurement of (2).

With reference to the embodiment of fig. 6, the simultaneous measurement by the magnetometers 20, 22 and the accelerometers 30, 32, in addition to the advantages already listed with reference to fig. 2, it is possible to ensure by the accelerometers 30, 32 that reliable measurements can be made even in the case of an axis R parallel to the magnetic field B and in the case of magnetic anomalies.

With reference to the embodiment of fig. 8, the simultaneous measurement by the magnetometers 20, 22 and the gyroscopes 40, 42, in addition to the advantages already listed with reference to fig. 2, it is possible to ensure by the gyroscopes 40, 42 that reliable measurements can be made even in the case of axes R parallel to the magnetic field B. Furthermore, the gyroscopes 40, 42 determine the cover angle α_LIDSufficient bandwidth of the measurement. Furthermore, this embodiment enables reliable measurements in the case where the portable device 10 opens like a book and at the same time there is a magnetic anomaly, and in the case where the portable device 10 opens like a book and at the same time is shaken (and therefore subject to linear acceleration). In a closed loop system, the recursive use of the formula makes the system overall stable, fast, and low in the amount of computation required. In fact, the gyroscopes 40, 42 are not sensitive to high frequency disturbances occurring by the accelerometers, or to magnetic disturbances occurring by the magnetometers; at the same time, due to the simultaneous measurement by the magnetometers 20, 22, the cover angle α with the aid of the gyroscope only is solved_LIDMeter (2)The associated disadvantages (storage of errors and lack of knowledge of the initial cover angle when the portable device 10 is switched on) are accounted for.

Finally, it should be clear that modifications and variations can be made to the disclosure described and illustrated herein without thereby departing from the scope thereof.

Generally, in the context of the present disclosure, the cover angle α_LIDIs the angle between two elements (even separated from each other, i.e. without the hinge 15) or parts which are identical when forming an electronic device or a system for information display (electronic device). These elements or components are for example: a keyboard and a screen; a dual screen device; a keyboard and a tablet computer; a keyboard and a smart phone; smart phones and tablet computers; two smart phones; two parts of a display of a foldable smart phone; two tablet computers; or any other combination of keyboard, tablet, smartphone, and screen.

Furthermore, it should be noted that the magnetometers 20, 22, accelerometers 30, 32 and gyroscopes 40, 42 may be implemented in the following manner: (i) modules separate from each other; (ii) a 6-axis inertial sensor module (e.g., a first module integrating the first magnetometer 20 and the first accelerometer 30, and a second module integrating the second magnetometer 22 and the second accelerometer 32); (iii) a 9-axis inertial sensor module (a first module integrating the first magnetometer 20, the first accelerometer 30, and the first gyroscope 40, and a second module integrating the second magnetometer 22, the second accelerometer 32, and the second gyroscope 42). In the latter case, a 9-axis measurement may also be made to ensure that the cover angle is accurately measured under any conditions of use of the portable device 10 and external factors.

In some embodiments, a method for determining a cover angle (α) between a first hardware element (12; 14) and a second hardware element (14; 12) of an electronic device (10)_LID) To control at least one function of the electronic device (10), wherein a first hardware element (12; 14) accommodating a first magnetometer (20; 22) and the second hardware element (14; 12) accommodating a second magnetometer (22; 20) and the second hardware element (14; 12) is able to be moved relative to the first hardware element (12; 14) orientation, the method being summarized as includingThe method comprises the following steps: generating, by a first magnetometer (20) and a second magnetometer (22), a first signal (B) being a measure of a magnetic field (B) external to the electronic device (10) and being indicative of a relative orientation of the first hardware component with respect to the second hardware component₁，B₂) (ii) a Acquiring the first signal (B) by a processing unit (27, 28) of the electronic device (10)₁，B₂) (ii) a By a processing unit (27, 28) and in dependence on the first signal (B)₁，B₂) Generating calibration parameters (J) indicative of conditions of calibration of the first magnetometer (20) and the second magnetometer (22)₁) (ii) a By a processing unit (27, 28) and in dependence on the first signal (B)₁，B₂) Generating a signal indicative of a first signal (B)₁，B₂) Reliability value (K) of the condition of reliability of (2)₁) (ii) a Based on the first signal (B) by a processing unit (27, 28)₁，B₂) Calculating (50) the cover angle (alpha)_LID) First intermediate value (α) of_{LID_MAG}) (ii) a Based on the calibration parameter (J) by a processing unit (27, 28)₁) Reliability value (K)₁) And cover angle (alpha)_LID) Of (a) is less than a_{LID_MAG}) To calculate (53) a cover angle (alpha)_LID) The current value of (a); and according to the cover angle (alpha)_LID) Controls the function of the electronic device (10).

In some embodiments, the first and second hardware elements (12, 14) are rotatable relative to each other about an axis of rotation (R), the first and second hardware elements (12, 14) having respective first surfaces (12a) and respective second surfaces (14a), the first surfaces (12a) and the second surfaces (14a) being directly confrontable with each other and defining a cover angle (α) between the first surfaces (12a) and the second surfaces (14a)_LID) And the first magnetometers (20) having respective first sensing axes (x)₁) Respective second sensing axes (y)₁) And respective third sensing axes (z)₁) And the second magnetometers (22) are of respective first sensing axes (x)₂) Respective second sensing axes (y)₂) And respective third sensing axes (z)₂) Of a first sensing axis (x)₁，x₂) Parallel to the rotation axis (R).

In some embodiments, the first intermediate is calculatedValue (alpha)_{LID_MAG}) Comprises performing the following operations:

wherein, Gy is₁Is measured by a first magnetometer (20) along a corresponding second sensing axis (y)₁) Detected first signal (B)₁) Component of (a), Gz₁Is measured by the first magnetometer (20) along the respective third sensing axis (z)₁) Detected first signal (B)₁) Component of (a), Gy₂Is measured by a second magnetometer (22) along a corresponding second sensing axis (y)₂) Detected second signal (B)₂) And Gz, and Gz₂Is measured by a second magnetometer (22) along a corresponding third sensing axis (z)₂) Detected second signal (B)₂) The component (c).

In some embodiments, a reliability value (K) is generated₁) Comprises the following steps: based on the first signal (B)₁，B₂) Calculate the reliability angle (phi)₁；φ_a，φ_b) (ii) a And based on the reliability angle (phi)₁；φ_a，φ_b) Comparison with a threshold angle to generate a reliability value (K)₁)。

In some embodiments, the reliability angle (φ) is measured between the axis of rotation (R) and a magnetic field (B) external to the electronic device (10)₁) And wherein the reliability angle (phi) is calculated₁) Comprises the following steps: based on a first signal (B) of a first magnetometer (20) by performing the following operation₁) Calculating a first intermediate angle (phi)_a)：

And/or based on a first signal (B) of the second magnetometer (22) by performing the following operations₂) Calculating a second intermediate angle (phi)_b)：

Wherein, Gx₁Is measured by a first magnetometer (20) along a respective first sensing axis (x)₁) Detected first signal (B)₁) And Gx, and₂is measured along a respective first sensing axis (x) by a second magnetometer (22)₂) Detected second signal (B)₂) A component of (a); and is based on the first intermediate angle (phi)_a) And/or a second intermediate angle (phi)_b) Generating a reliability angle (phi)₁) Wherein: angle of reliability (phi)₁) Equal to the first angle (phi)_a) Or angle of reliability (phi)₁) Equal to the second angle (phi)_b) Or angle of reliability (phi)₁) Equal to the first angle (phi)_a) And a second angle (phi)_b) Average value of, or reliability angle (phi)₁) Equal to the first angle (phi)_a) And a second angle (phi)_b) Is calculated as the weighted average of (a).

In some embodiments, a reliability value (K) is generated₁) Comprises the following steps:

based on the first signal (B) by performing the following operations₁，B₂) Calculating a first reliability angle (phi)_a)：

Wherein, Gx₁Is measured by a first magnetometer (20) along a respective first sensing axis (x)₁) Detected first signal (B)₁) A component of (a); based on the first signal (B) by performing the following operations₁，B₂) Calculating a second reliability angle (phi)_b)：

Wherein, Gx₂Is measured along a respective first sensing axis (x) by a second magnetometer (22)₂) Detected second signal (B)₂) A component of (a); and is based on the first reliability angle (phi)_a) First comparison with a threshold angle and based on a second reliability angle(φ_b) A second comparison with the threshold angle to generate a reliability value (K)₁)。

In some embodiments, a calibration parameter (J) is generated₁) Comprises the following steps: according to the first signal (B)₁，B₂) By calibrating the parameter (P)_cal) Generating (49a) calibration data (D)₂) (ii) a Calibration data (D)₂) Comparing with respective comparison data, generating a result of the comparison, the result of the comparison indicating a need for calibrating the first magnetometer (20) and the second magnetometer (22) or other needs; and if the result of said comparison indicates that the first magnetometer and the second magnetometer need to be calibrated, performing the steps of: calibrating (49c) the first magnetometer (20) and the second magnetometer (22) to generate new calibration parameters (P)_cal) Assigning (49d) a first value indicative of the performance of the calibration of the first magnetometer (20) and the second magnetometer (22) to the calibration parameter (J)₁) And with new calibration parameters (P) generated by calibrating the first magnetometer (20) and the second magnetometer (22)_cal) Replacing (49c) the calibration parameter (P)_cal)。

In some embodiments, a calibration parameter (J) is generated (49)₁) Further comprising the steps of: if the result of the comparison does not indicate that the first magnetometer and the second magnetometer need to be calibrated, performing the following steps: based on calibration data (D)₂) Determining (49e) whether a condition of magnetic interference has been verified at the first magnetometer (20) and the second magnetometer (22); and assigning (49d) said first value to a calibration parameter (J) in the absence of said magnetic interference₁) (ii) a Or in the presence of said magnetic interference, assigning (49f) a second value different from the first value to the calibration parameter (J)₁)。

In some embodiments, the reliability value (K)₁) Is the calibration parameter (J)₁) Wherein the cover angle (a) is calculated (53)_LID) Comprises recursively updating the cover angle (alpha) by performing the following operations_LID) Current value of (a):

α_LID(t)＝(1-K₁')·α_LID(t-1)+K₁'·α_{LID_MAG}(t)

K₁'＝n·K₁in which K is₁Is a reliability value, and K₁Is equal to or greater than 0 and less than or equal to 1, n is a coefficient having a value greater than 0 and less than or equal to 1, alpha_LID(t) is the cover angle (. alpha.)_LID) Current value of, alpha_LID(t-1) is immediately adjacent to the current value α_LID(t) cover angle (alpha) at a time before the time_LID) Value of (a)_{LID_MAG}(t) is a first intermediate value.

In some embodiments, the first hardware element (12; 14) further houses a first accelerometer (30; 32) and the second hardware element (14; 12) further houses a second accelerometer (32; 30), the control method further comprising the steps of: acquiring, by a processing unit (27, 28), a second signal indicative of a measure of relative orientation of the first and second hardware elements through a first accelerometer (30) and a second accelerometer (32); calculating (55), by a processing unit (27, 28), the cover angle (a) based on the second signal_LID) Second intermediate value (α) of_{LID_ACC}) (ii) a And by the processing unit (27, 28) further based on the cover angle (alpha)_LID) Of (a) is less than a_{LID_ACC}) To calculate (56) a cover angle (alpha)_LID) The current value of (a).

In some embodiments, the method further comprises the steps of: generating (54), by the processing unit (27, 28) and from the second signal, a further reliability value (K) indicative of a condition of reliability of the second signal₂)。

In some embodiments, a cover angle (α) is calculated (56)_LID) The step of current value of (a) comprises performing the following operations:

K_LP·α_{LID_ACC_MAG}(t)+(1-K_LP)·α_LID(t-1)

where α LID (t-1) is the value of the angle at a time immediately preceding the time of the current value, K_LPIs a coefficient of 0 or more and 1 or less, and alpha_{LID_ACC_MAG}(t) is a value equal to: second intermediate value (alpha)_{LID_ACC}) If the reliability value (K)₁) Equal to 0, and another reliability value (K)₂) Is not 0; or a first intermediate value (alpha)_{LID_MAG}) If the reliability value (K)₁) Is not 0, and another reliability value (K)₂) Equal to 0; or (K)₁·α_{LID_MAG}(t)+K₂·α_{LID_ACC}(t))/(K₁+K₂) If the reliability value (K)₁) Is not 0, and another reliability value (K)₂) Is not 0, wherein α_{LID_MAG}(t) is a first intermediate value, and α_{LID_ACC}(t) is a second intermediate value, K₁Is the reliability value, K₂Is another reliability value, and wherein if the reliability value (K)₁) Equal to 0 and another reliability value (K)₂) Is equal to 0, then K_LPEqual to 0.

In some embodiments, the first hardware element (12; 14) further houses a first gyroscope (40; 42) and the second hardware element (14; 12) further houses a second gyroscope (42; 40), the method further comprising the steps of: acquiring, by the processing unit (27, 28) and through the first gyroscope (40) and the second gyroscope (42), second signals indicative of measurements of relative orientations of the first hardware element and the second hardware element; calculating (58), by a processing unit (27, 28), the cover angle (a) based on the second signal_LID) Second intermediate value (α) of_{LID_GYR}) (ii) a And by the processing unit (27, 28) further based on the cover angle (alpha)_LID) Of (a) is less than a_{LID_GYR}) To calculate (60) a cover angle (alpha)_LID) The current value of (a).

In some embodiments, the cover angle (α) is calculated_LID) Comprises performing a first intermediate value (alpha)_{LID_MAG}) And a second intermediate value (alpha)_{LID_GYR}) Is calculated as a weighted sum of.

In some embodiments, the step of performing a weighted sum comprises performing the following operations:

α_LID(t)＝K₁'·α_{LID_MAG}(t)+(1-K₁')·α_{LID_GYR}(t)

K₁′＝n·K₁in which K is₁Is a reliability value, and K₁Is equal to or greater than 0 and less than or equal to 1, n is a coefficient having a value greater than or equal to 0 and less than or equal to 1, alpha_LID(t) is the current value of the angle, α_{LID_MAG}(t) is a first intermediate value, and α_{LID_GYR}(t) is a second intermediate value.

In some embodiments, an electronic device (10) may be summarized as including: a first hardware element (12; 14) housing a first magnetometer (20; 22); a second hardware element (14; 12) housing a second magnetometer (22; 20), the second hardware element (14) being orientable relative to the first hardware element (12), and the second hardware element (14; 12) defining a cover angle (a) with the first hardware element (12; 14)_LID). The first magnetometer (20) and the second magnetometer (22) are configured to generate a first signal (B)₁，B₂) First signal (B)₁，B₂) Is a measure of a magnetic field (B) external to the electronic device (10) and is indicative of the relative orientation of the first hardware element with respect to the second hardware element. The electronic device (10) further comprises a processing unit (27, 28), the processing unit (27, 28) being configured to: acquiring the first signal (B)₁，B₂) (ii) a According to the first signal (B)₁，B₂) Generating a calibration parameter (J) indicative of a condition of the calibration of the first magnetometer (20) and the second magnetometer (22)₁) (ii) a According to the first signal (B)₁，B₂) Generating a first signal (B) indicative of₁，B₂) Reliability value (K) of the condition of reliability of (2)₁) (ii) a Based on the first signal (B)₁，B₂) Calculating (50) the cover angle (alpha)_LID) First intermediate value (α) of_{LID_MAG}) (ii) a Based on the reliability value (K)₁) Calibration parameter (J)₁) And cover angle (alpha)_LID) Of (a) is less than a_{LID_MAG}) Calculating (53) the cover angle (alpha)_LID) The current value of (a); and according to the cover angle (alpha)_LID) Controls the function of the electronic device (10).

In some embodiments, the first magnetometer (20) is a magnetic material having a respective first sensing axis (x)₁) Corresponding second sensing axis (y)₁) And a corresponding third sensing axis (z)₁) And the second magnetometer (22) is a magnetometer having a corresponding first sensing axis (x)₂) Corresponding second sensing axis (y)₂) And a corresponding third sensing axis (z)₂) Of a first sensing axis (x)₁，x₂) Are parallel to each other and the first hardware element (12) and the second hardware element (14) are rotatable with respect to each other around the rotation axis (R) only for the first sensing axis (x) when the magnetic field (B) acts in a direction parallel to the rotation axis (R)₁，x₂) Is subjected to a magnetic field (B) and the processing unit (27, 28) is configured to indicate the first signal (B)₁，B₂) Is assigned to the reliability value (K) by a predefined value of unreliability₁)。

In some embodiments, the first hardware element (12; 14) also houses a first accelerometer (30; 32); the second hardware element (14; 12) also houses a second accelerometer (32; 30); and the processing unit (27, 28) is further configured to perform the following operations: acquiring, by a first accelerometer (30) and a second accelerometer (32), a second signal indicative of a measure of relative orientation of the first hardware element and the second hardware element; calculating (55) the cover angle (a) based on the second signal_LID) Second intermediate value (α) of_{LID_ACC}) (ii) a And further based on the cover angle (alpha)_LID) Of (a) is less than a_{LID_ACC}) Calculating (56) a cover angle (alpha)_LID) The current value of (a).

In some embodiments, the first hardware element (12; 14) also houses a first gyroscope (40; 42) and the second hardware element (14; 12) also houses a second gyroscope (42; 40); and the processing unit (27, 28) is further configured to perform the following operations: acquiring, by a first gyroscope (40) and a second gyroscope (42), a second signal indicative of a measure of relative orientation of the first hardware element and the second hardware element; calculating (58) a cover angle (alpha) based on the second signal_LID) Second intermediate value (α) of_{LID_GYR}) (ii) a And based on the cover angle (alpha)_LID) Of (a) is less than a_{LID_GYR}) Calculating (60) the cover angle (alpha)_LID) The current value of (a).

In some embodiments, the first hardware element (12) is provided with a first user interaction device (18) and the second hardware element (14) is provided with a second user interaction device (16), and the operation of controlling the function of the electronic apparatus (10) comprises a function according to a cover angle (α)_LID) Adjusts the current value of the first interactive device (18) and/or the second interactive device(16) An operational characteristic or an operational characteristic of (a).

In some embodiments, a software product is provided, wherein the software product is loaded into a processing unit (27, 28) of an electronic device (10), the electronic device (10) comprising a first hardware component (12; 14) housing a first magnetometer (20; 22) and a second hardware component (14; 12) housing a second magnetometer (22; 20), the second hardware component (14) being orientable relative to the first hardware component (12), and the second hardware component (14; 12) defining a cover angle (α) with the first hardware component (12; 14)_LID) Wherein the first magnetometer (20) and the second magnetometer (22) are configured to generate a first signal (B)₁，B₂) First signal (B)₁，B₂) Is a measure of a magnetic field (B) external to the electronic device (10) and is indicative of a relative orientation of the first hardware element with respect to the second hardware element, the software product being designed in such a way that, when it is run, the processing unit (27, 28) is configured to: acquiring the first signal (B)₁，B₂) (ii) a According to the first signal (B)₁，B₂) Generating a calibration parameter (J) indicative of a condition of the calibration of the first magnetometer (20) and the second magnetometer (22)₁) (ii) a According to the first signal (B)₁，B₂) Generating a first signal (B) indicative of₁，B₂) Reliability value (K) of the condition of reliability of (2)₁) (ii) a Based on the first signal (B)₁，B₂) Calculating (50) the cover angle (alpha)_LID) First intermediate value (α) of_{LID_MAG}) (ii) a Based on the calibration parameter (J)₁) Reliability value (K)₁) And cover angle (alpha)_LID) Of (a) is less than a_{LID_MAG}) Calculating (53) the cover angle (alpha)_LID) The current value of (a); and according to the cover angle (alpha)_LID) Controls the function of the electronic device (10).

The various embodiments described above can be combined to provide further embodiments. All U.S. patents, U.S. patent application publications, U.S. patent applications, foreign patents, foreign patent applications and non-patent publications referred to in this specification and/or listed in the application data sheet, are incorporated herein by reference, in their entirety. Aspects of the embodiments can be modified, if necessary, to employ concepts of the various patents, applications and publications to provide yet further embodiments.

These and other changes can be made to the embodiments in light of the above detailed description. In general, in the following claims, the terms used should not be construed to limit the claims to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled. Accordingly, the claims are not limited by the disclosure.