Calibration system and method for a three-dimensional space magnetic positioning system
A three-dimensional space calibration system technology, applied in the field of magnetic positioning, can solve the problems of magnetic positioning system calibration difficulties
Active Publication Date: 2022-03-25
PEKING UNIV
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Problems solved by technology
This calibration method has obvious limitations, that is, in the calibration process, the orientation angles of the target magnet attitude need to be known in advance during calibration, so it has caused great difficulties in the calibration of the magnetic positioning system
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[0014] Below in conjunction with the accompanying drawings, the present invention is further described by means of embodiments, but the scope of the present invention is not limited in any way.
[0015] The magnetic positioning system involved in the present invention includes the following parts: a calibration rod, a target magnet, a Hall sensor array, a stereo vision positioning module, a data acquisition and processing module, and a calibration model. The target magnet is fixed at one end of the calibration rod, and the target magnet is a black NdFeB N35 permanent magnet, which is clearly distinguished from the visual features of the white calibration rod. The length of the calibration rod is 10cm; the Hall sensor array consists of 9 Hall sensors. The horizontal and vertical distances between adjacent sensors are both 6cm; the stereo vision positioning module is composed of two cameras with different viewing angles, an optical flow target tracking algorithm, and a linear con...
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The invention discloses a calibration system and method for a three-dimensional space magnetic positioning system, which overcomes the dependence of the magnetic positioning system on the attitude angle of the target magnet in the traditional calibration process; the calibration system includes a calibration rod, a target magnet, a Hall sensor array, Stereo vision positioning module, data acquisition module and calibration model. During the calibration process, the hand-held calibration rod moves freely in the detection space with any posture to make the target magnet traverse the entire detection space. The stereo vision positioning module obtains the three-dimensional space position of the target magnet in real time, and the Hall sensor array obtains the magnetic induction intensity of each sensor in real time; data acquisition The module simultaneously collects the real-time magnetic induction intensity of all Hall sensors and the three-dimensional space position data collected by the stereo vision module, and obtains a calibration model through supervised machine learning training; finally, the trained calibration model is used as a prediction model for real-time magnetic field detection in space. location detection.
Description
technical field [0001] The invention relates to the field of magnetic positioning, in particular to a calibration system and method for a three-dimensional space magnetic positioning system. Background technique [0002] The magnetic positioning system uses the Hall sensor array to measure the magnetic field excited by the target magnet in space, and accurately locates the position of the target magnet in space according to the Biot-Savart law by measuring the magnetic induction intensity corresponding to multiple Hall sensors. According to "A Calibration Method of Magnetic Target Positioning and Tracking System" (Hu Chao, Ren Yupeng, Wang Wenhu, et al. Integrated Technology, 2014 (5): 85-96.), it is known that before the magnetic positioning system is actually used, it is necessary to The spatial position and angle of each Hall sensor are calibrated. The current classic calibration method is: place a calibration platform in the detection space of the magnetic positioning s...
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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 冯志恒汪帝安健郑亦嘉张凯张珏方竞
Owner PEKING UNIV