Multi-magnetic target positioning method and system

Abstract

The invention discloses a positioning method and a positioning system of multiple magnetic targets, at least two magnetic targets with a built-in permanent magnet are arranged, and a magnetic sensor array with the sensor number more than 5 times of the magnetic target number is arranged. The positioning method comprises following steps: A. space position of each sensor and magnetic induction strength data in each sensor position under the action of each magnetic target are obtained; B. the magnetic induction strength data obtained from the measurement and the Biot-Savart law are utilized for defining an error objective function; C. a nonlinear optimizing algorithm is utilized for searching the position and direction parameters of the magnetic targets, minimizing the error objective function, and obtaining positioning data of each magnetic target including the position and direction parameters. Simultaneously relative positioning of the measured targets is implemented according to the position data of the multiple magnetic targets in an absolute coordinate system, thus realizing precise positioning and tracing of built-in targets of moving objects or human bodies.

Description

technical field [0001] The invention relates to wireless positioning technology, in particular to a multi-target positioning method and positioning system. Background technique [0002] In recent years, wireless positioning technology has been used more and more. Such as tracking of vehicles and moving objects, virtual reality production, robot positioning, tracking of micro medical equipment inside the human body, surgical navigation, positioning of underground ferromagnetic materials, etc. At present, the commonly used wireless positioning technologies include GPS, radio frequency wireless signal strength positioning, computer vision positioning, magnetic positioning, and image-based X-ray examination, CT examination, nuclear magnetic resonance examination, three-dimensional ultrasound examination, etc. Among them, GPS and radio frequency wireless signal strength positioning are suitable for positioning in an unobstructed space. For indoors and when there are objects bloc...

AI Technical Summary

Problems solved by technology

However, this time-varying electromagnetic field positioning has obvious defects: first, the electromagnetic field will cause eddy currents in the surrounding electrical conductors, which will affect the magnetic field distribution, thereby affecting the positioning accuracy of the system; Electric energy, and requires a specific electromagnetic excitation circuit, which is not conducive to the miniaturization of the target

However, this method cannot eliminate the measurement error caused by the movement of the human body relative to the detection sensor caused by human breathing, rotation, and relative stretching during the long-term detection process, resulting in positioning errors

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