阅读说明：本技术 信息处理设备、信息处理方法以及程序 (Information processing apparatus, information processing method, and program ) 是由 君岛雅人 于 2019-09-27 设计创作，主要内容包括：本发明以简单的方式获取惯性传感器的温度特性。提供一种信息处理设备包括：惯性测量单元(110,IMU)；信息处理单元(120),该信息处理单元执行运算处理,该运算处理伴随有根据操作期间的负荷的温度变化；温度检测单元(130),该温度检测单元检测温度；温度控制单元(143),该温度控制单元通过向信息处理单元施加负荷以使信息处理单元操作来控制由温度检测单元检测到的温度；以及数据获取单元(145),该数据获取单元获取指示校正值与温度之间的关系的温度特性数据,该校正值用于校正惯性测量单元的测量值。(The present invention acquires the temperature characteristic of the inertial sensor in a simple manner. Provided is an information processing device including: an inertial measurement unit (110, IMU); an information processing unit (120) that executes arithmetic processing accompanied by a temperature change according to a load during operation; a temperature detection unit (130) that detects a temperature; a temperature control unit (143) that controls the temperature detected by the temperature detection unit by applying a load to the information processing unit to cause the information processing unit to operate; and a data acquisition unit (145) that acquires temperature characteristic data indicating a relationship between a correction value for correcting the measurement value of the inertial measurement unit and temperature.)

1. An information processing apparatus comprising:

an inertial measurement unit;

an information processing unit that executes arithmetic processing accompanied by a temperature change according to a load during operation;

a temperature detection unit that detects a temperature;

a temperature control unit that controls the temperature detected by the temperature detection unit by applying the load to the information processing unit to cause the information processing unit to operate; and

a data acquisition unit that acquires temperature characteristic data indicating a relationship between a correction value for correcting the measurement value of the inertial measurement unit and the temperature.

2. The information processing apparatus according to claim 1, further comprising a correction processing unit that corrects the measurement value measured by the inertial measurement unit based on the correction value obtained from the temperature detected by the temperature detection unit and the temperature characteristic data.

3. The information processing apparatus according to claim 1, further comprising a state determination unit that determines whether the information processing apparatus is in a state in which the temperature characteristic data can be acquired,

wherein the temperature control unit starts controlling the temperature in a case where the state determination unit determines that the information processing apparatus is in the state in which the temperature characteristic data can be acquired.

4. The information processing apparatus according to claim 3, wherein the state determination unit performs determination as to any one of whether the information processing apparatus is stationary, whether a user is using the information processing apparatus, or whether a remaining amount of battery of the information processing apparatus satisfies a predetermined condition, when determining whether the temperature characteristic data can be acquired.

5. The information processing apparatus according to claim 1, wherein the temperature control unit controls the information processing unit to keep the temperature constant for a predetermined period of time.

6. The information processing apparatus according to claim 1, wherein the temperature control unit controls the information processing unit to change the temperature from a first temperature to a second temperature at a temperature change speed less than or equal to a threshold value.

7. The information processing apparatus according to claim 1, wherein the temperature control unit controls the information processing unit so that a temperature difference between a minimum value and a maximum value of the temperature is at least greater than or equal to a predetermined value.

8. The information processing apparatus according to claim 1, wherein the data acquisition unit acquires, as the temperature characteristic data, an approximate function of a plurality of measurement values acquired at least two or more temperatures by the inertial measurement unit.

9. The information processing apparatus according to claim 1,

wherein the inertial measurement unit includes at least a gyro sensor that detects an angular velocity, an

The data acquisition unit acquires gyro deviation temperature characteristic data indicating a relationship between a gyro deviation correction value and the temperature.

10. The information processing apparatus according to claim 9, further comprising a gyro correction processing unit that corrects the angular velocity detected by the gyro sensor based on the gyro deviation correction value obtained from the temperature detected by the temperature detection unit and the gyro deviation temperature characteristic data.

11. The information processing apparatus according to claim 2, wherein the correction processing unit corrects the measurement value measured by the inertial measurement unit based on a correction value obtained from the temperature and the temperature characteristic data that have been controlled, in a state in which the temperature is controlled by applying the load to the information processing unit by the temperature control unit to cause the information processing unit to operate.

12. The information processing apparatus according to claim 1, wherein the information processing unit includes at least any one of a central processing unit or a communication device.

13. An information processing method comprising:

controlling the temperature detected by the temperature detection unit by applying a predetermined load to an information processing unit using a processor to cause the information processing unit to operate, the information processing unit executing arithmetic processing accompanied by a temperature change according to the load during operation; and

temperature characteristic data indicating a relationship between a correction value for correcting a measurement value of the inertial measurement unit and the temperature is acquired.

14. A program for causing a computer to function as:

an inertial measurement unit;

an information processing unit that changes a temperature according to a load during operation;

a temperature detection unit that detects a temperature;

a temperature control unit that controls the temperature detected by the temperature detection unit by applying the load to the information processing unit to cause the information processing unit to operate; and

a data acquisition unit that acquires temperature characteristic data indicating a relationship between a correction value for correcting the measurement value of the inertial measurement unit and the temperature.

Technical Field

The present disclosure relates to an information processing apparatus, an information processing method, and a program.

Background

Currently, a technique of estimating a position or orientation of a portable terminal (such as a smartphone) based on information measured by an inertial sensor or the like built in the portable terminal has been popularized. In some cases, the inertial sensor is affected by the ambient temperature, and the measurement value of the inertial sensor changes. Therefore, a technique of correcting the influence of temperature on the inertial sensor based on the temperature characteristics recorded in advance has been proposed. For example, patent document 1 listed below relates to an inclination sensor that detects the inclination of a traveling body, and describes a technique for correcting the measurement value of the inclination sensor based on a temperature drift characteristic recorded in advance.

CITATION LIST

Patent document

Patent document 1: japanese patent application laid-open No.2010-268755

Disclosure of Invention

Problems to be solved by the invention

However, in the technique described in patent document 1 listed above, it is necessary to acquire the temperature characteristics for correcting the tilt sensor by performing temperature management using a constant temperature oven or the like during the manufacturing process. Therefore, it is required to more simply acquire the temperature characteristic of the initial sensor.

Problem solving scheme

According to the present disclosure, there is provided an information processing apparatus including: an inertial measurement unit; an information processing unit that executes arithmetic processing accompanied by a temperature change according to a load during operation; a temperature detection unit that detects a temperature; a temperature control unit that controls the temperature detected by the temperature detection unit by applying a load to the information processing unit to cause the information processing unit to operate; and a data acquisition unit that acquires temperature characteristic data indicating a relationship between a correction value for correcting the measurement value of the inertial measurement unit and the temperature.

Further, according to the present disclosure, there is provided an information processing method including: controlling the temperature detected by the temperature detecting unit by applying a predetermined load to the information processing unit using the processor to cause the information processing unit to operate; an information processing unit that executes arithmetic processing accompanied by a temperature change according to a load during operation; and acquiring temperature characteristic data indicating a relationship between a correction value for correcting the measurement value of the inertial measurement unit and the temperature.

Further, according to the present disclosure, there is provided a program for causing a computer to have functions of: an inertial measurement unit; an information processing unit that changes a temperature according to a load during operation; a temperature detection unit that detects a temperature; a temperature control unit that controls the temperature detected by the temperature detection unit by applying a load to the information processing unit to cause the information processing unit to operate; and a data acquisition unit that acquires temperature characteristic data indicating a relationship between a correction value for correcting the measurement value of the inertial measurement unit and temperature.

Drawings

Fig. 1 is a diagram illustrating an operational scenario of an information processing apparatus according to an embodiment of the present disclosure.

Fig. 2 is a block diagram showing a functional configuration example of an information processing apparatus according to the same embodiment.

Fig. 3 is a diagram schematically showing temperature control according to the same embodiment.

Fig. 4 is a diagram showing an example of a temperature characteristic table according to the same embodiment.

Fig. 5 is a diagram showing an example of acquiring an approximation function used as temperature characteristic data according to the same embodiment.

Fig. 6 is a flowchart showing an example of the operation of the information processing apparatus according to the same embodiment.

Fig. 7 is a flowchart showing the acquisition possibility determination processing of temperature characteristic data according to the same embodiment.

Fig. 8 is a flowchart showing the temperature characteristic data acquisition process according to the same embodiment.

Fig. 9 is a flowchart showing a temperature control process according to the same embodiment.

Fig. 10 is a flowchart showing a correction process according to the same embodiment.

Fig. 11 is an explanatory diagram showing a first modification of the temperature control in the correction processing according to the same embodiment.

Fig. 12A is an explanatory diagram showing an orientation change in a second modification according to the same embodiment.

Fig. 12B is an explanatory diagram showing an orientation change in a third modification according to the same embodiment.

Fig. 13 is a diagram showing an example of an attention screen used in a fourth modification according to the same embodiment.

Fig. 14 is a block diagram showing an example of a hardware configuration of an information processing apparatus according to the same embodiment.

Detailed Description

Preferred embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. Note that in the specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and thus duplicate descriptions are omitted.

Note that the description is provided in the order described below.

1. First embodiment (acquisition and correction of temperature characteristic data)

1.1. Operational context of information processing apparatus

1.2. Functional configuration example of information processing apparatus

1.3. Operation example of information processing apparatus

1.3.1. Temperature characteristic data acquisition possibility

1.3.2. Acquiring temperature characteristic data

1.3.3. Temperature control

1.3.4. Correction processing

1.4. Variant 1 (case without temperature measurement)

1.5. Variant 2 (two-plane measurement)

1.6. Variant 3 (Multi-orientation measurement)

1.7. Modification 4 (display of attention screen)

2. Hardware configuration example

3. Conclusion

<1. first embodiment (acquisition and correction of temperature characteristic data) >

1.1.[ operational situation of information processing apparatus ]

First, an operational scenario of an information processing apparatus 10 according to a first embodiment of the present disclosure is described with reference to fig. 1. Fig. 1 is a diagram illustrating an operational scenario of an information processing apparatus 10 according to an embodiment of the present disclosure. Currently, in some cases, an information processing apparatus 10 such as a smartphone is mounted with a function of estimating a position or orientation of the information processing apparatus 10 based on information measured by a built-in Inertial Measurement Unit (IMU) or the like.

However, the IMU is affected by the ambient temperature of the IMU, and output characteristics such as bias values, sensitivity, or alignment vary. Therefore, the measurement value of the IMU varies depending on the ambient temperature in some cases. Therefore, the position or orientation of the information processing apparatus 10 may be erroneously detected in some cases (see the left-hand part of fig. 1). For example, in the case where the IMU is used for the navigation function of the user, although the information processing apparatus 10 itself is stationary, in some cases, it is detected as if the information processing apparatus 10 is moving based on the measurement value of the IMU.

Therefore, in the present disclosure, information (temperature characteristic data) relating to the temperature characteristic of the IMU is acquired by the information processing apparatus 10. For example, as shown in the center of fig. 1, in a situation where the user does not use the information processing device 10 (for example, when the user is sleeping), the temperature inside the information processing device 10 including the periphery of the IMU is controlled, and the temperature characteristic data of the IMU is acquired.

Thereafter, the measurement value of the IMU may be corrected based on the acquired temperature characteristic data, and the measurement value of the IMU may be used in the information processing apparatus 10. For example, when the user uses the navigation function of the information processing apparatus 10, the measurement value of the IMU is corrected based on the temperature characteristic data of the IMU (see the right-hand part of fig. 1). Therefore, the information processing apparatus 10 can provide a more accurate position/orientation estimation function.

[1.2. functional configuration example of information processing apparatus ]

Next, a functional configuration example of the information processing apparatus 10 according to an embodiment of the present disclosure is described with reference to fig. 2 to 5. Fig. 2 is a block diagram showing a functional configuration example of the information processing apparatus 10 according to the embodiment of the present disclosure.

As shown in fig. 2, the information processing apparatus 10 according to the embodiment of the present disclosure includes an inertia measurement unit 110, an information processing unit 120, a temperature detection unit 130, a control unit 140, and a memory 150.

Examples of the information processing apparatus 10 include a smartphone, a tablet terminal, a wearable terminal, and the like, which are mounted with a function of estimating the position or orientation of the terminal.

(1) Inertial measurement unit 110

The inertia measurement unit 110 has a function of measuring inertia data relating to the information processing apparatus 10. The inertial measurement unit 110 includes an Inertial Measurement Unit (IMU) as a device that can measure inertial data. The inertia measurement unit includes an acceleration sensor, and measures an acceleration serving as a variation amount of the moving speed of the information processing apparatus 10 (as one example of inertia data). Further, the inertial measurement unit includes an angular velocity sensor, and measures an angular velocity (as one example of inertial data) which is a variation amount of the orientation of the information processing apparatus 10. The inertia measurement unit 110 outputs the inertia data measured by the inertia measurement unit to the control unit 140.

(2) Information processing unit 120

The information processing unit 120 has a function of executing arithmetic processing in the information processing apparatus 10. In executing the arithmetic processing, the information processing unit 120 changes the temperature according to the load during operation. The temperature around the inertia measurement unit 110 varies according to the temperature variation of the information processing unit 120. Examples of the information processing unit 120 include a Central Processing Unit (CPU) and a communication device.

(3) Temperature detecting unit 130

The temperature detection unit 130 has a function of detecting the temperature inside the information processing apparatus 10. In particular, the temperature detection unit 130 may detect the temperature of the inertial measurement unit 110 itself or the ambient temperature of the inertial measurement unit 110.

(4) Control unit 140

The control unit 140 has a function of controlling the entirety of the information processing apparatus 10. For example, the control unit 140 acquires the measurement value of the inertial measurement unit 110. Further, the control unit 140 acquires the temperature detection result of the temperature detection unit 130.

Further, the control unit 140 controls the storage processing of the memory 150. Specifically, the control unit 140 causes the memory 150 to store information that has been output according to the processing performed by the control unit 140.

Further, the control unit 140 has a function of executing processing based on the input information.

Further, as shown in fig. 2, the control unit 140 includes a state determination unit 141, a temperature control unit 143, a data acquisition unit 145, and a correction processing unit 147.

(State determining unit 141)

The state determination unit 141 has a function of determining whether or not temperature characteristic data can be acquired. In this determination, the state determination unit 141 may determine whether the information processing apparatus 10 is stationary. The state determination unit 141 may determine whether the information processing apparatus 10 is stationary based on the measurement value of the inertia measurement unit 110. For example, the state determination unit 141 may determine that the information processing apparatus 10 is stationary when the variance value within a predetermined period of time of the acceleration measured by the inertia measurement unit 110 is less than or equal to a predetermined value.

Before acquiring the temperature characteristic data, the state determination unit 141 determines that the information processing apparatus 10 is stationary, and this suppresses unnecessary vibration components or motion components from being reflected in the measurement results, and improves the accuracy of the temperature characteristic data to be acquired.

Further, in determining whether or not the temperature characteristic data can be acquired, the state determination unit 141 may determine whether or not the user is using the information processing apparatus 10. The state determination unit 141 determines the use state of the information processing apparatus 10 before acquiring the temperature characteristic data, and this suppresses the influence of a temperature change or an increase in power consumption on the user during acquisition of the temperature characteristic data.

In determining the use state of the information processing device 10, the state determination unit 141 may determine whether the user is sleeping. The state determination unit 141 may determine that the user is sleeping, for example, based on the current time. Further, the state determination unit 141 may determine that the user is sleeping based on body information of the user such as a pulse wave. Further, the state determination unit 141 may detect the movement of the user based on the measurement value of the inertia measurement unit 110, and may determine that the user is sleeping in the presence of a small movement or no movement of the user.

When determining the use state of the information processing device 10, the state determination unit 141 determines whether the user is sleeping. Therefore, it is more accurately determined that the user is not using the information processing apparatus 10.

Further, in determining the use state of the information processing apparatus 10, the state determination unit 141 may determine whether the information processing apparatus 10 is located in the user's residence such as the user's house. Specifically, the state determination unit 141 estimates the current position of the information processing apparatus 10 based on the position information of the information processing apparatus 10, the wireless communication environment, and the like. The state determination unit 141 may determine whether the information processing apparatus 10 is located in the user's residence based on the estimation result.

In determining the use state of the information processing apparatus 10, the state determination unit 141 determines whether the information processing apparatus 10 is located in the residence of the user, and this suppresses the influence of a temperature change or an increase in power consumption on the user during acquisition of the temperature characteristic data.

Further, in determining the use state of the information processing apparatus 10, the state determination unit 141 may perform determination based on the operation state of an application or the like in the information processing apparatus 10. In particular, the operating state of the application program can be estimated based on the CPU usage of the processing related to the application program in the information processing apparatus 10. In the case where the CPU usage rate is low, the state determination unit 141 may determine that the user is not using the information processing apparatus 10. By so doing, the use state of the information processing apparatus 10 can be determined more accurately.

Further, in determining whether or not the temperature characteristic data can be acquired, the state determination unit 141 may determine whether or not the remaining amount of battery of the information processing apparatus 10 satisfies a predetermined condition. Examples of the predetermined condition include whether or not the remaining amount of battery is greater than or equal to 80% of the remaining amount of battery in a fully charged state, whether or not the battery is being charged, and the like.

The state determination unit 141 determines the remaining amount of battery of the information processing device 10 when determining whether or not the temperature characteristic data can be acquired, and this suppresses the influence of an increase in power consumption on the user during acquisition of the temperature characteristic data.

Further, in determining whether or not the temperature characteristic data can be acquired, the state determination unit 141 may determine whether or not the user has authorized acquisition of the temperature characteristic data of the inertia measurement unit 110. If the user has issued authorization, the impact on the user need not be taken into account during the acquisition of the temperature characteristic data.

(temperature control unit 143)

The temperature control unit 143 causes the information processing unit 120 to perform arithmetic processing to control the temperature that changes according to the temperature change of the information processing unit 120 and is detected by the temperature detection unit 130.

An example of arithmetic processing performed by the information processing unit 120 is processing for performing control to repeatedly perform simple calculations (such as sequentially increasing integers from 1) in the case where the information processing unit 120 is a central processing unit. Further, in the case where the information processing unit 120 is a communication device, an example of arithmetic processing is processing for performing control to repeatedly perform communication with the outside and the like. In particular, in the case where the communication device is a GPS receiving device, an example of arithmetic processing is processing for performing control to repeatedly perform a positioning operation or the like of the information processing apparatus 10.

The temperature control unit 143 performs temperature control by using the information processing unit 120 that performs arithmetic processing in the information processing apparatus 10. Therefore, it is not necessary to separately provide an element for temperature control in the information processing apparatus 10. In particular, in the case where the information processing unit 120 is a central processing unit or a communication device, both the central processing unit and the communication device are elements provided in the information processing apparatus 10 in many cases. By using these elements, there is no need to separately provide elements for temperature control. Further, both the central processing unit and the communication device are elements having a relatively large amount of heat generation, and temperature increase may increase temperature control.

Specifically, the temperature control unit 143 controls the operating frequency of the information processing unit 120 or the load to be applied to the information processing unit 120 based on the temperature detected by the temperature detection unit 130 and the target temperature. Further, when changing the temperature, the temperature control unit 143 controls the operation frequency of the information processing unit 120 or the load to be applied to the information processing unit 120 in such a manner that the speed of change of the temperature detected by the temperature detection unit 130 does not exceed the threshold value. The temperature control performed by the temperature control unit 143 according to the present embodiment is further described below with reference to fig. 3.

(temperature control)

Fig. 3 is a diagram schematically showing temperature control according to the present embodiment. As shown in fig. 3, the temperature control unit 143 applies a load to the information processing unit 120, and controls the temperature to be detected by the temperature detection unit 130. First, the temperature is controlled to be a certain period of time Δ t₁Is kept constant at a first temperature T₁. Next, the temperature is controlled to be from the first temperature T₁Change to the second temperature T₂. At this time, the speed (T) at which the temperature changes may be made₂-T₁)/Δt₂The temperature control is performed in such a manner that it is less than or equal to the threshold value. Further, when changing the temperature, the control may be performed in such a manner that the difference between the maximum value and the minimum value of the temperature is greater than or equal to a predetermined value. For example, the control may be performed in such a manner that the difference between the maximum value and the minimum value of the temperature is greater than or equal to 20 ℃. The temperature control performed by the temperature control unit 143 has been described above with reference to fig. 3.

In the temperature control, the temperature is kept constant for a certain period of time, and therefore, the inertia measurement unit 110 performs measurement in a stable temperature state. This leads to a further improvement in the accuracy of the temperature characteristic data. Further, in the temperature control, the control is performed in such a manner that the speed of temperature change is less than or equal to the threshold value. This suppresses the influence of the sudden change in temperature on the temperature characteristics of the inertial measurement unit 110. Further, in the temperature control, the control is performed in such a manner that the difference between the maximum value and the minimum value of the temperature is greater than or equal to 20 ℃. By so doing, the temperature range of the temperature characteristic data can be sufficiently secured, and this leads to an improvement in the accuracy of the temperature characteristic data.

Further, the temperature control unit 143 has a function of starting temperature control in a case where the state determination unit 141 determines that the information processing apparatus 10 is in a state where temperature characteristic data can be acquired. Specifically, the state determination unit 141 outputs a determination result indicating that the information processing apparatus 10 is in a state in which the temperature characteristic data can be acquired. After that, the temperature control unit 143 applies a load to the information processing unit 120 to cause the information processing unit 120 to operate. The temperature control unit 143 starts temperature control in a state where temperature characteristic data can be acquired. Therefore, the temperature control is not started at a time inconvenient for the user.

(data acquisition Unit 145)

The data acquisition unit 145 has a function of acquiring temperature characteristic data indicating a relationship between a correction value for correcting the measurement value of the inertial measurement unit 110 and the temperature detected by the temperature detection unit 130. Specific acquisition of temperature characteristic data is described below with reference to fig. 4 and 5.

(acquisition of temperature characteristics Table)

As shown in fig. 3, the temperature to be detected by the temperature detection unit 130 is controlled, and when the temperature is stabilized at a certain temperature (e.g., T in fig. 3)₁) The measurement value of the inertial measurement unit 110 is acquired by the data acquisition unit 145. Fig. 4 is a diagram showing an example of the temperature characteristic table according to the present embodiment. As shown in fig. 4, the inertial measurement unit 110 performs measurement while controlling the temperature, and thus the measurement value of the inertial measurement unit 110 corresponding to the specified temperature is obtained.

(acquisition of temperature characteristic data)

Further, the data acquisition unit 145 obtains an approximation function according to the least square method by using the temperature and the measurement value that have been acquired, so as to interpolate a temperature range without a measurement result into the temperature characteristic table obtained in fig. 4. Fig. 5 is a diagram showing an example of acquiring an approximation function used as temperature characteristic data. As shown in fig. 5, it is assumed that an approximation of a linear function is established in the relationship between the temperature and the measured value based on the temperature characteristic table. In this case, the data acquisition unit 145 performs an arithmetic process for obtaining an approximation function by using the formula described below according to the least square method.

Here, the inclination a in the approximation function y ═ ax + b is obtained according to the following formula.

[ mathematical formula 1]

In addition, the intercept b is obtained according to the following equation.

[ mathematical formula 2]

In the above formula, n is the number of measurement points. The data acquisition unit 145 acquires the approximation function obtained as described above as temperature characteristic data indicating the relationship between the temperature and the correction value. By determining the approximation function as the temperature characteristic data, a temperature range without measurement results can be interpolated. Therefore, even in the case where a small amount of temperature is measured, temperature characteristic data capable of coping with a wide temperature range can be obtained.

The data acquisition unit 145 may acquire the approximation function as the temperature characteristic data based on the measurement values acquired by the inertial measurement unit at least two or more temperatures. Further, in order to accurately obtain the approximation function, the data acquisition unit 145 may acquire the approximation function as the temperature characteristic data based on the measurement values acquired by the inertial measurement unit 110 at least four or more temperatures. The data acquisition unit 145 stores the temperature characteristic data in the memory 150.

Note that as a method for acquiring the approximation function, a method other than the least squares method may be used. Further, as the approximation function, a function different from a linear function can be obtained.

The temperature characteristic data of the inertia measurement unit 110 is acquired by the data acquisition unit 145 inside the information processing apparatus 10, and therefore, the temperature characteristic data is acquired only in the information processing apparatus 10. In particular, in manufacturing the information processing apparatus 10, equipment for acquiring temperature characteristic data, such as a constant temperature oven, is not required.

The data acquisition unit 145 may acquire a deviation value of the angular velocity detected by the gyro sensor (gyro deviation value) as the measurement value of the inertial measurement unit 110. This is because, among the inertial data acquired by the inertial measurement unit 110, the gyro deviation value detected by the gyro sensor particularly significantly affects the position/orientation estimation function in the information processing apparatus 10, and it is necessary to perform correction by using the temperature characteristic data. The data acquisition unit 145 acquires gyro deviation temperature characteristic data indicating a relationship between a gyro deviation correction value for correcting the gyro deviation value and temperature, based on the acquired gyro deviation value.

(correction processing unit 147)

The correction processing unit 147 has a function of correcting the measurement values measured by the inertia measurement unit 110 based on the correction values obtained from the temperature detected by the temperature detection unit 130 and the temperature characteristic data. Specifically, the correction processing unit 147 calculates a correction value from the detected temperature and the temperature characteristic data. The correction processing unit 147 performs arithmetic processing for correcting the measurement value of the inertial measurement unit 110 by using the calculated correction value.

Further, the correction processing unit 147 may have a function of correcting the angular velocity detected by the gyro sensor based on a gyro deviation correction value obtained from the temperature detected by the temperature detection unit 130 and the gyro deviation temperature characteristic data. Specifically, the correction processing unit 147 calculates a gyro deviation correction value from the detected temperature and temperature characteristic data. The correction processing unit 147 performs arithmetic processing for correcting the angular velocity measured by the gyro sensor of the inertial measurement unit 110 by using the calculated gyro deviation correction value. In other words, the correction processing unit 147 also has a function of a gyro correction processing unit 149, and the gyro correction processing unit 149 corrects the angular velocity detected by the gyro sensor based on a gyro deviation correction value obtained from the temperature detected by the temperature detection unit 130 and the gyro deviation temperature characteristic data.

The measurement values of the inertial measurement unit 110 are corrected by the correction processing unit 147, and therefore the information processing apparatus 10 has a function of estimating a more accurate position or orientation.

(5) Memory 150

The memory 150 has a function of storing data acquired in processing performed by the information processing apparatus 10. For example, the memory 150 stores the temperature characteristic data acquired by the data acquisition unit 145.

The functional configuration examples of the information processing apparatus 10 according to the embodiment of the present disclosure are described above with reference to fig. 2 to 5. An operation example of the information processing apparatus 10 according to the embodiment of the present disclosure will be described.

[1.3. operation example of information processing apparatus ]

An operation example of the information processing apparatus 10 according to the embodiment of the present disclosure is described below with reference to fig. 6 to 10. Fig. 6 is a flowchart illustrating an operation example of the information processing apparatus 10 according to the embodiment of the present disclosure.

As shown in fig. 6, first, the inertia measurement unit 110 measures inertia data such as acceleration or angular velocity, and outputs the measurement value to the control unit 140. The control unit 140 stores the measured value in the memory 150 (S100). Next, the state determination unit 141 determines whether the information processing apparatus 10 is in a state in which the temperature characteristic data can be acquired (S200). In the case where the state determination unit 141 determines that the temperature characteristic data can be acquired, the data acquisition unit 145 acquires the temperature characteristic data (S300). In contrast, in step S200, in the case where it is not determined that the temperature characteristic data can be acquired, the count of the temperature stability elapsed time is reset (S221). After that, the correction processing unit 147 executes processing for correcting the measurement value of the inertia measurement unit 110 (S400). Finally, the control unit 140 calculates the orientation and the moving speed of the information processing apparatus 10 by using the corrected measurement result of the inertial measurement unit 110 (S500), and the process performed by the information processing apparatus 10 is terminated.

The above describes a flowchart showing an overall operation example of the information processing apparatus 10 according to the embodiment of the present disclosure. The processing in step S200, step S300, step S303, and step S400 is described below.

[1.3.1. possibility of acquiring temperature characteristic data ]

The acquisition possibility determination process of the temperature characteristic data of step S200 is described with reference to fig. 7. Fig. 7 is a flowchart relating to the temperature characteristic data acquisition possibility determination process. First, the state determination unit 141 determines whether the information processing apparatus 10 is in a stationary state based on the measurement value of the inertia measurement unit 110 (S201). In step S201, in the case where it is determined that the information processing apparatus 10 is in the stationary state, the elapsed time in the stationary state is counted (S203).

In the determination of step S201 as to whether the information processing apparatus 10 is in a stationary state, the measurement value of the inertia measurement unit 110 is used. For example, it may be determined whether the variance value of the acceleration values for one second measured by the inertia measurement unit 110 is less than or equal to a predetermined threshold value. In the case where the variance value of the acceleration is less than or equal to the predetermined threshold value, it is determined in step S201 that the information processing apparatus 10 is in a stationary state.

In contrast, in step S201, in the case where it is determined that the information processing apparatus 10 is not in the stationary state, the state determination unit 141 resets the count of the elapsed time (S205), and determines that it is not possible to acquire the temperature characteristic data (S219). Thus, the process of step S200 is terminated.

The process returns to step S203. After the elapsed time is counted, it is determined whether 30 minutes or more has elapsed in the stationary state (S207). In a case where it is determined that 30 minutes or more has not elapsed in the stationary state, the state determination unit 141 determines that the temperature characteristic data cannot be acquired (S219), and the process of step S200 is terminated.

In contrast, in step S207, in the case where it is determined that 30 minutes or more has elapsed in the stationary state, the state of the remaining amount of battery of the information processing apparatus 10 is detected (S209). The state determination unit 141 determines whether the remaining amount of battery of the information processing apparatus 10 satisfies a predetermined condition based on the battery state detected in step S209 (S211). Examples of the predetermined condition include whether or not the remaining amount of battery is greater than or equal to 80% of the remaining amount of battery in a fully charged state, whether or not the battery is being charged, and the like. In step S211, in the case where it is determined that the predetermined condition is not satisfied, it is determined that the temperature characteristic data may not be acquired (S219).

In contrast, in step S211, in the case where it is determined that the predetermined condition is satisfied, the sleep state of the user is detected (S213). The state determination unit 141 determines whether the user is sleeping based on the detection result in step S213 (S215). In step S215, in the case where it is determined that the user is not sleeping, it is determined that the temperature characteristic data may not be acquired (S219). In contrast, in step S215, in the case where it is determined that the user is sleeping, it is determined that the temperature characteristic data can be acquired (S217).

Note that only any one or a combination of any two of the respective determinations of steps S207, S211, and S215 may be performed. Further, the respective determinations of steps S207, S211, and S215 may be performed in an order different from that in the flowchart of fig. 7.

[1.3.2. acquisition of temperature characteristic data ]

Next, the temperature characteristic data acquisition process of step S300 in the flowchart of fig. 6 is described with reference to fig. 8. Fig. 8 is a flowchart relating to the temperature characteristic data acquisition process.

First, the temperature detection unit 130 detects the current temperature (S301). Next, the temperature control unit 143 performs a temperature control process (S303). After the temperature control process described later is performed, it is determined whether the temperature has stabilized (S305). In a case where it is determined that the temperature has not been stabilized, the temperature characteristic data acquisition process is terminated.

In contrast, in step S305, in the case where it is determined that the temperature has stabilized, the inertia measurement unit 110 performs measurement at the temperature (S307). For example, the gyro sensor of the inertial measurement unit 110 measures an angular velocity with respect to three axes, i.e., the yaw axis, the pitch axis, and the roll axis, during a predetermined period of time, and further, performs averaging processing on the measurement results. An example of a measurement period is 10 minutes. Thereafter, the average value of the measurement results and the temperature at which the measurement is performed are stored in the memory 150 (S309).

Next, the data acquisition unit 145 reads the maximum value and the minimum value of the temperature that have been stored from the memory 150 (S311). The data acquisition unit 145 determines whether the difference between the maximum value and the minimum value is greater than or equal to a predetermined value (S313). An example of the predetermined value is 20 ℃. In step S313, in the case where it is determined that the difference between the maximum value and the minimum value is not greater than or equal to the predetermined value, the temperature characteristic data acquisition process is terminated.

In contrast, in step S313, in the case where it is determined that the difference between the maximum value and the minimum value is greater than or equal to the predetermined value, the data acquisition unit 145 performs interpolation processing for interpolating the measurement value of the temperature without the measurement result (S315). Specifically, the data acquisition unit 145 acquires an approximation function based on the recorded measurement values and temperature by using the least square method, and interpolates the measurement results. After that, the data acquisition unit 145 determines that the temperature characteristic data obtained as the approximate function is available. Further, the data acquisition unit 145 stores the temperature characteristic data in the memory 150 (S317). Finally, the data acquisition unit 145 deletes the temporarily recorded measurement value and temperature of the inertial measurement unit 110 (S319), and the temperature characteristic data acquisition process is terminated.

[1.3.3. temperature control ]

Next, the temperature control process of step S303 in the flowchart of fig. 8 is described with reference to fig. 9. Fig. 9 is a flowchart relating to the temperature control process. As shown in fig. 9, first, in step S3031, the temperature control unit 143 calculates a value obtained by subtracting the target temperature from the current temperature. Further, the temperature control unit 143 compares the subtracted value with a predetermined absolute value of temperature difference α (° c). An example of the absolute value of the temperature difference α is 0.1 ℃. In the case where the value obtained by subtracting the target temperature from the current temperature is greater than or equal to- α and less than or equal to α, the value is sufficiently close to the target temperature, and thus the process proceeds to the determination of step S3033.

In step S3033, the temperature control unit 143 determines whether the state in which the value is sufficiently close to the target temperature continues for 10 minutes or more. In the case where this state continues for 10 minutes or more, the temperature control unit 143 determines that the temperature has stabilized (S3035). Further, the temperature control unit 143 sets the next target temperature by adding the predetermined temperature β (° c) to the current target temperature (S3037). An example of the predetermined temperature β is 5 ℃. At this time, the temperature control unit 143 also resets the count of the duration. In contrast, in step S3033, in the case where it is determined that the state in which the value is sufficiently close to the target temperature does not continue for 10 minutes or more, the temperature control processing of step S303 is terminated.

In step S3031, in the case where a value obtained by subtracting the target temperature from the current temperature is greater than + α, the current temperature is higher than the target temperature. Therefore, first, the temperature control unit 143 resets the count of the duration (S3039). Next, the temperature control unit 143 reduces the load to be applied to the information processing unit 120 (S3041). After that, the temperature control process of step S303 is terminated.

In contrast, in step S3031, in the case where the value obtained by subtracting the target temperature from the current temperature is less than- α, the current temperature is lower than the target temperature. Therefore, first, the temperature control unit 143 resets the count of the duration (S3043). Next, the temperature control unit 143 increases the load to be applied to the information processing unit 120 (S3045). After that, the temperature control process of step S303 is terminated.

[1.3.4. correction processing ]

Next, the correction process of step S400 in the flowchart of fig. 6 is described with reference to fig. 10. Fig. 10 is a flowchart relating to the correction processing. As shown in fig. 10, first, the inertia measurement unit 110 measures inertia data (S401). Next, the temperature detection unit 130 detects the temperature (S403). Then, the correction processing unit 147 determines whether temperature characteristic data is available (S405). If the temperature characteristic data acquisition process of step S300 is terminated and the temperature characteristic data is available, the correction processing unit 147 calls the temperature characteristic data from the memory 150 (S407). In contrast, in step S405, in the case where it is determined that the temperature characteristic data is not available, the correction processing unit 147 calls preset data that is a normal temperature characteristic prepared at the time of factory shipment (S409). The correction processing unit 147 reads a correction value based on the called temperature characteristic data and the temperature detected in step S403 (S411). Further, the correction processing unit 147 corrects the measurement value obtained in the measurement of step S401 by using the correction value (S413). After that, the correction processing is terminated.

The processing in step S200, step S300, step S303, or step S400 in the flowchart showing the operation example of the information processing apparatus 10 according to the embodiment of the present disclosure has been described above.

[1.4. modification 1 (case where there is no temperature measurement) ]

A first modification of the embodiment according to the present disclosure is described below with reference to fig. 11. Fig. 11 is an explanatory diagram showing temperature control in the correction processing in the present modification.

In the above-described embodiment, an example has been described in which the temperature characteristic data is acquired in advance and the measurement value of the inertial measurement unit 110 is corrected based on the temperature characteristic data. In the present modification, the correction processing unit 147 executes the correction processing in a state in which the temperature is controlled by the temperature control unit 143.

As shown by the solid line in fig. 11, when the correction processing is performed by using the temperature characteristic data obtained by approximating the relationship between the measurement value and the temperature using the linear function, in some cases, in practice, the correction is performed in a temperature range in which there is no measurement result. For example, the temperature detected by the temperature detection unit 130 in fig. 11 is the temperature T shown in fig. 11₆In the case of (2), the temperature T is determined based on the temperature characteristic data represented by the solid line in FIG. 11₆The corresponding correction value. At this time, in some cases, at the temperature T₆The correction value below deviates from the correction value required to correct the actual measurement value of the inertial measurement unit 110. For example, in some cases, the actual temperature characteristic indicates a partial curve, as shown by a broken line in fig. 11. Therefore, a difference is generated between the correction value obtained from the temperature characteristic data and the correction value based on the actual temperature characteristic (this corresponds to the range shown by the double-headed arrow in fig. 11).

Therefore, in the present modification, at the time of executing the correction processing, the temperature detected by the temperature detection unit 130 at the time of acquiring the temperature characteristic dataIn the case where the temperature is a temperature without a measurement result, the temperature control unit 143 controls the temperature, and performs correction processing. Specifically, in the correction process, the temperature detected at the temperature detection unit 130 is the temperature T in fig. 11₆In case that the temperature control unit 143 performs temperature control to change the temperature to the temperature T₇。

Control is performed to change the temperature detected by the temperature detection unit 130 to a temperature having a measurement result when acquiring the temperature characteristic data, and therefore, the measurement value of the inertial measurement unit 110 can be corrected more accurately. Therefore, the position/orientation estimation function using the inertial measurement unit 110 in the information processing apparatus 10 operates more accurately.

Further, it is conceivable that, in an actual environment, the ambient temperature of the inertial measurement unit 110 suddenly changes, which affects the measurement performed by the inertial measurement unit 110. Even in this case, the temperature control unit 143 controls the temperature, and this suppresses the influence of the sudden change in the ambient temperature on the measurement performed by the inertia measurement unit 110.

[1.5. modification 2 (two-plane measurement) ]

A second modification of the embodiment according to the present disclosure is described below with reference to fig. 12A. Fig. 12A is an explanatory diagram showing the orientation change in the present modification.

In the above-described embodiment, an example is described in which the temperature characteristic data is acquired in a state in which the information processing apparatus 10 is stationary with a single orientation. In the present modification, in a state in which the temperature is controlled, the information processing apparatus 10 is changed from the first orientation to the second orientation, and the measurement value of the inertial measurement unit 110 in each orientation is acquired. Therefore, temperature characteristic data indicating a relationship between a correction value for correcting the influence of a deviation value or sensitivity (scale factor) of the acceleration sensor and the temperature is acquired.

As shown in fig. 12A, first, in a state where the information processing apparatus 10 is placed on a table to have a first orientation, the temperature inside the information processing apparatus 10 is controlled. At this time, the measurement value of the inertial measurement unit 110 is acquired. Next, in a state where the temperature is controlled, the information processing apparatus 10 is placed on the table to have a second orientation opposite to the first orientation. At this time, the measurement value of the inertial measurement unit 110 is acquired.

As described above, in the state where the temperature is controlled, the measurement values of the inertial measurement unit 110 in the first orientation and the second orientation are acquired, and thus the correction values for correcting the influence of the bias values and sensitivities of the acceleration sensors on the measurement values are acquired. In other words, the inertial measurement unit 110 performs measurement in each of the first orientation and the second orientation, and compares two measurement values of the acceleration sensor with each other. At this time, the acceleration sensor includes a gravitational acceleration component in the measurement values in both the first orientation and the second orientation. Therefore, when the measured values of the gravitational acceleration component in the first orientation and the second orientation are compared with each other, the influence of the bias value and the sensitivity in the acceleration sensor is obtained. The measurement is repeated on the above-described two planes at a plurality of temperatures, and thus temperature characteristic data indicating the relationship between the correction value for correcting the influence of the deviation value or sensitivity on the measurement value of the acceleration sensor and the temperature can be obtained.

In the present modification, when acquiring the temperature characteristic data, the temperature characteristic data is acquired based on the measurement values of the inertial measurement unit 110 in two orientations. Therefore, temperature characteristic data required to correct the influence of the offset value or sensitivity of the acceleration sensor can be easily acquired.

[1.6. modification 3 (Multi-orientation measurement) ]

A third modification of the embodiment according to the present disclosure is described below with reference to fig. 12B. Fig. 12B is an explanatory diagram showing the orientation change in the present modification.

In the above-described embodiment, the example in which the temperature characteristic data is acquired in the state in which the information processing apparatus 10 is stationary has been described. In the present modification, in a state in which the temperature is controlled, the information processing apparatus 10 changes in three or more orientations, and acquires the measurement value of the inertial measurement unit 110 at the time of changing to each orientation. Accordingly, temperature characteristic data indicating a relationship between a correction value for correcting an influence of the sensitivity of the gyro sensor on the measurement value and the temperature is acquired.

As shown in fig. 12B, first, the information processing apparatus 10 is changed from the state in which the information processing apparatus 10 remains in the first orientation to the second orientation. Upon changing from the first orientation to the second orientation, the measurement values of the inertial measurement unit 110 are acquired. Next, the information processing apparatus 10 changes from the second orientation to the third orientation. Upon changing from the second orientation to the third orientation, the measurement values of the inertial measurement unit 110 are acquired. Further, the information processing apparatus 10 changes from the third orientation to the first orientation. Upon changing from the third orientation to the first orientation, the measurement values of the inertial measurement unit 110 are acquired.

Note that as a reference value regarding the amount of change in the angle when changing the orientation, the direction of gravity in each orientation is used. In other words, the amount of change in the angle of the information processing apparatus 10 according to the orientation change is obtained based on the direction of gravity before the orientation change and the direction of gravity after the orientation change.

As described above, when the orientation of the information processing apparatus 10 is changed into a plurality of states, the inertial measurement unit 110 performs measurement with a corresponding orientation change, and obtains an output value regarding the angular velocity. Therefore, the influence of the sensitivity of the gyro sensor on the measured value is obtained. The measurement is repeated in the above-described plurality of orientations at a plurality of temperatures, and thus temperature characteristic data indicating the relationship between the correction value for correcting the influence of the sensitivity of the gyro sensor of the inertial measurement unit 110 and the temperature can be obtained.

Further, in the present modification, when the information processing apparatus 10 is changed to three or more orientations including the first orientation, the second orientation, and the third orientation, it is also possible to acquire the measurement results of the gyro sensor and the acceleration sensor in each orientation. Thus, three-axis orthogonality is obtained for the yaw, pitch and roll axes of each measurement. Therefore, temperature characteristic data for correcting the influence of misalignment on the measurement values of the gyro sensor and the acceleration sensor is also acquired.

In the present modification, the temperature characteristic data is acquired based on the measurement value of the changing orientation of the inertial measurement unit 110 in a plurality of orientations. Therefore, temperature characteristic data required to correct the influence of the sensitivity of the gyro sensor or the influence of the misalignment of the gyro sensor or the acceleration sensor can be acquired.

[1.7. modification 4 (display of attention screen) ]

A fourth modification of the embodiment according to the present disclosure is described below with reference to fig. 13. Fig. 13 is a diagram showing an example of an attention screen used in the present modification.

In the above-described embodiment, in the case where the information processing apparatus 10 satisfies the predetermined condition, the temperature control unit 143 starts temperature control so as to acquire temperature characteristic data. In the present modification, before the temperature control unit 143 starts temperature control, the output device of the information processing device 10 is caused to display a screen for attracting the attention of the user. As shown in fig. 13, in the information processing apparatus 10, a screen is displayed to report to the user that the temperature of the main body of the information processing apparatus 10 will increase due to the temperature control.

In the present modification, before the temperature control unit 143 starts temperature control, a screen for taking the attention of the user is displayed. Therefore, the temperature control at the time of acquiring the temperature characteristic data can be performed in a state where the information processing apparatus 10 has been stabilized.

<2. hardware configuration example >

A hardware configuration example of the information processing apparatus 10 according to the embodiment of the present disclosure is described below with reference to fig. 14. Fig. 14 is a block diagram showing an example of the hardware configuration of the information processing apparatus 10 according to the embodiment of the present disclosure. As shown in fig. 14, the information processing apparatus 10 includes, for example, a CPU 101, a RAM102, a ROM103, a sensor group 104, an input device 105, a display device 106, a sound output device 107, a storage device 108, and a communication device 109. Note that the hardware configuration described herein is an example, and some of the components may be omitted. Furthermore, the hardware configuration may further include components in addition to those described herein.

(CPU 101, RAM102, and ROM 103)

The CPU 101 functions as, for example, an arithmetic processing device or a control device, and controls all or part of the operations of each component based on various programs recorded in the ROM103, the RAM102, or the storage device 108. The ROM103 is a means for storing programs to be loaded into the CPU 101, data to be used in arithmetic operations, and the like. For example, a program to be loaded into the CPU 101, various parameters that are appropriately changed when the program is executed, and the like are temporarily or permanently stored in the RAM 102. They are connected to each other through a host bus including a CPU bus and the like. The CPU 101, the ROM103, and the RAM102 can realize the functions of the control unit 140 and the information processing unit 120, which have been described with reference to fig. 2, in cooperation with software, for example.

(sensor group 104)

The sensor group 104 has a function of detecting the state, the surrounding environment, and the like of the information processing apparatus 10. The sensor group 104 includes, for example, a gyro sensor 104a and an acceleration sensor 104 b. Further, the sensor group 104 includes a temperature sensor.

(input device 105)

For example, a touch panel, buttons, switches, and the like are used for the input device 105. Further, in some cases, a remote controller that transmits control signals using infrared or other radio waves may be used for the input device 105. The input device 105 also includes a sound input device, such as a microphone.

(display device 106 and sound output device 107)

The display device 106 includes, for example, a display device such as a Cathode Ray Tube (CRT) display device or a Liquid Crystal Display (LCD) device. In addition, the display device 106 includes a display device such as a projector device, an Organic Light Emitting Diode (OLED) device, or a lamp. Further, the sound output device 107 includes a sound output device such as a speaker or an earphone.

(storage device 108)

The storage device 108 is a device that stores various types of data. As the storage device 108, for example, a magnetic storage device such as a Hard Disk Drive (HDD), a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like is used. The storage 108 may implement the functionality of the memory 150, for example, as already described with reference to fig. 2.

(communication device 109)

The communication device 109 is a communication device that performs communication with the outside, and includes a GPS receiving unit 109a, a wireless LAN router 109b, and a telephone modem 109 c. In addition, for example, a communication card for wired or wireless LAN, bluetooth (registered trademark), or wireless usb (wusb), a router for optical communication, a router for Asymmetric Digital Subscriber Line (ADSL), a modem for various types of communication, and the like are also included. The communication device 109 can realize the function of the information processing unit 120 in cooperation with software, for example.

The hardware configuration example of the information processing apparatus according to the embodiment of the present disclosure has been described above with reference to fig. 14.

<3. conclusion >

As described above, in the information processing apparatus according to the embodiment of the present disclosure, the temperature control unit changes the temperature according to the operation of the information processing unit to which the load has been applied. Further, the data acquisition unit acquires temperature characteristic data indicating a relationship between the measurement value of the inertial measurement unit and the temperature.

Therefore, an information processing apparatus, an information processing method, and a program are provided which are novel and improved, and which are capable of simply acquiring temperature characteristics that can cope with performance differences between respective products of the inertial sensor without recording the temperature characteristics of the inertial sensor in advance.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the technical scope of the present disclosure is not limited to the above examples. Obviously, various changes or modifications may be devised by those having ordinary skill in the art to which the present disclosure pertains without departing from the technical idea described in the claims, and it should be understood that these changes or modifications also fall within the technical scope of the present disclosure.

For example, in the above-described embodiment, it is assumed that the acquired temperature characteristic data is used in the information processing apparatus 10, but the present technology is not limited to this example. For example, the temperature characteristic data acquired by the information processing apparatus 10 may be accumulated in a server computer, and may be shared with another information processing apparatus or the like. Specifically, in the information processing apparatus 10, the temperature characteristic data is acquired by the data acquisition unit 145, and the data is stored in the memory 150. The control unit 140 of the information processing apparatus 10 transmits the temperature characteristic data stored in the memory 150 to an external server computer through the internet or the like. The server computer accumulates the temperature characteristic data received from the plurality of information processing apparatuses 10. Further, the server computer selects optimum temperature characteristic data from the accumulated temperature characteristic data in response to a request from the information processing apparatus 10, and transmits the optimum temperature characteristic data to the information processing apparatus 10 that has issued the request.

Further, the series of processes described herein, which are executed by the respective apparatuses, may be realized by using any of software, hardware, and a combination of software and hardware. The program configuring the software is stored in advance in, for example, a recording medium (non-transitory medium) provided inside or outside each device. Then, for example, each program is loaded into the RAM when executed by a computer, and executed by a processor such as a CPU.

Further, the processes described herein with reference to the flowcharts need not necessarily be performed in the order shown. Some of the processing steps may be performed in parallel. Furthermore, additional processing steps may be employed, and some processing steps may be omitted.

Further, the effects described herein are exemplary or illustrative only and are not limiting. In other words, other effects that would be apparent to one of ordinary skill in the art may be exhibited from the description provided herein in addition to or in lieu of the effects described above in accordance with the techniques of this disclosure.

Note that the configuration described below also falls within the technical scope of the present disclosure.

(1) An information processing apparatus comprising:

an inertial measurement unit;

an information processing unit that executes arithmetic processing accompanied by a temperature change according to a load during operation;

a temperature detection unit that detects a temperature;

a temperature control unit that controls the temperature detected by the temperature detection unit by applying a load to the information processing unit to cause the information processing unit to operate; and

a data acquisition unit that acquires temperature characteristic data indicating a relationship between a correction value for correcting a measurement value of the inertial measurement unit and temperature.

(2) The information processing apparatus according to the above (1), further comprising a correction processing unit that corrects the measurement value measured by the inertial measurement unit based on a correction value obtained from the temperature detected by the temperature detection unit and the temperature characteristic data.

(3) The information processing apparatus according to the above (1) or (2), further comprising a state determination unit that determines whether the information processing apparatus is in a state in which the temperature characteristic data can be acquired,

wherein the temperature control unit starts controlling the temperature in a case where the state determination unit determines that the information processing apparatus is in a state in which the temperature characteristic data can be acquired.

(4) The information processing apparatus according to the above (3), wherein the state determination unit performs, when determining whether the temperature characteristic data can be acquired, determination as to any one of whether the information processing apparatus is stationary, whether the user is using the information processing apparatus, or whether a remaining battery amount of the information processing apparatus satisfies a predetermined condition.

(5) The information processing apparatus according to any one of the above (1) to (4), wherein the temperature control unit controls the information processing unit to keep the temperature constant for a predetermined period of time.

(6) The information processing apparatus according to any one of the above (1) to (5), wherein the temperature control unit controls the information processing unit to change the temperature from the first temperature to the second temperature at a temperature change speed at which the temperature is less than or equal to a threshold value.

(7) The information processing apparatus according to any one of the above (1) to (6), wherein the temperature control unit controls the information processing unit so that the minimum value and the maximum value of the temperature have a temperature difference at least greater than or equal to a predetermined value.

(8) The information processing apparatus according to any one of the above (1) to (7), wherein the data acquisition unit acquires, as the temperature characteristic data, an approximation function of a plurality of measurement values acquired at least two or more temperatures by the inertial measurement unit.

(9) The information processing apparatus according to any one of the above (1) to (8),

wherein the inertial measurement unit includes at least a gyro sensor that detects an angular velocity, an

The data acquisition unit acquires gyro deviation temperature characteristic data indicating a relationship between the gyro deviation correction value and temperature.

(10) The information processing apparatus according to the above (9), further comprising a gyro correction processing unit that corrects the angular velocity detected by the gyro sensor based on a gyro deviation correction value obtained from the temperature detected by the temperature detection unit and the gyro deviation temperature characteristic data.

(11) The information processing apparatus according to the above (2), wherein the correction processing unit corrects the measurement value measured by the inertial measurement unit based on a correction value obtained from the controlled temperature and the temperature characteristic data in a state where the temperature is controlled by applying a load to the information processing unit by the temperature control unit to cause the information processing unit to operate.

(12) The information processing apparatus according to any one of the above (1) to (11), wherein the information processing unit includes at least any one of a central processing unit or a communication device.

(13) An information processing method comprising:

an information processing unit that performs arithmetic processing accompanied by a temperature change according to a load during operation by applying a predetermined load to the information processing unit to cause the information processing unit to operate, and controlling a temperature detected by the temperature detection unit by using the processor; and

temperature characteristic data indicating a relationship between a correction value for correcting a measurement value of the inertial measurement unit and temperature is acquired.

(14) A program for causing a computer to function as:

an inertial measurement unit;

an information processing unit that changes a temperature according to a load during operation;

a temperature detection unit that detects a temperature;

a temperature control unit that controls the temperature detected by the temperature detection unit by applying a load to the information processing unit to cause the information processing unit to operate; and

a data acquisition unit that acquires temperature characteristic data indicating a relationship between a correction value for correcting a measurement value of the inertial measurement unit and temperature.

REFERENCE SIGNS LIST

10 information processing apparatus

101 CPU

102 RAM

103 ROM

104 sensor group

104a gyro sensor

104b acceleration sensor

109 communication device

110 inertial measurement unit

120 information processing unit

130 temperature detection unit

140 control unit

141 state determination unit

143 temperature control unit

145 data acquisition unit

147 correction processing unit

149 gyro correction processing unit

150 memory