Magnetic-nail positioning method, magnetic-nail positioning navigation error correction method and magnetic-nail positioning device

Abstract

The invention belongs to the field of object positioning methods and particularly relates to a magnetic-nail positioning method. The magnetic-nail positioning method comprises the following steps of:(a) arranging at least two groups of magnetic sensors, placing the two groups of magnetic sensors above the area of the magnetic nail at a certain interval; (b) according to the two groups of magneticsensors, collecting measurement points P0 with same magnetic-field intensity; (c) according to all the collected measurement points P0, fitting out a magnetic-field intensity distribution curve of the points P0; (d) according to the distribution curve of the points P0, deducing a point Pmax with maximum magnetic-field intensity, and obtaining the position of the magnetic nail. The magnetic-nail positioning method is characterized in that enough measurement points P0 can be collected under a static condition, the distribution curve of the points P0 can be fit out by the measurement points P0 with the same magnetic-field intensity, the point Pmax with the maximum magnetic-field intensity can be deduced, and the position of the magnetic nail is below the point Pmax. Compared with the prior art, the magnetic-nail positioning method has the advantages of accurate positioning, low application-equipment cost and real-time feedback of positioning results.

Description

technical field [0001] The invention belongs to the field of object positioning methods, and specifically relates to a magnetic nail positioning method, a navigation error correction method using the method, and a magnetic field induction positioning device. Background technique [0002] As people have higher and higher requirements for the accuracy of AGV operation, in order to solve the problem that the magnetic nail positioning method used in general AGV is sensitive to sensor hardware errors, the positioning error is large, and it cannot be positioned in real time at any time. It is a method to use a sufficient amount of magnetic field data that can be measured in real time with small hardware errors to fit and calculate the position of the magnetic nail, so that the AGV can accurately correct the navigation error in real time. [0003] The key to this navigation error correction method using magnetic nail positioning is how to accurately determine the position of the ma...

AI Technical Summary

Problems solved by technology

However, in the aforementioned two methods, the first method uses the data of multiple collection points, but the different errors of different collection points in terms of hardware differences are also brought into the final result, resulting in low positioning accuracy; the second method uses The equipment cost is high, the magnetic field model needs to be accurately modeled, and the calculation is complicated;

[0004] In addition, the existing magnetic sensor positioning device cannot immediately detect enough magnetic field data in a static state to derive a fitted curve, and then obtain the real-time position of the AGV, so the existing positioning device needs to be modified

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