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A Range-Measuring Linear Positioning Algorithm

A linear positioning and algorithm technology, applied in the direction of measuring devices, geophysical measurement, radio wave measurement systems, etc., can solve the problems of magnetic field vector separation, positioning algorithm multiple solutions, magnetic field noise sensitivity, etc., to achieve enhanced anti-interference ability and Stable, fast effect

Active Publication Date: 2021-04-02
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This positioning algorithm is not only sensitive to magnetic field noise, but also needs to measure the magnetic field vector of the magnetic body superimposed on the geomagnetic field, but it is difficult to accurately separate the magnetic field vector of the magnetic body from the magnetic field measurement data
Although the magnetic gradient tensor positioning based on two points in space does not need to measure the magnetic field vector of the magnetic body, the magnetic gradient tensor system measures the value of another point by moving, and the positioning algorithm has multiple solutions

Method used

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Experimental program
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Effect test

Embodiment 1

[0049] The implementation process of the ranging linear positioning algorithm based on the magnetic gradient tensor at the center of the face center of the three-axis magnetometer regular hexahedron array of the present invention is as follows.

[0050] like figure 1 As shown, a regular hexahedral array of three-axis magnetometers is composed of eight three-axis magnetometers, four three-axis magnetometers are distributed on each plane layer, and there are two layers in total. The array is in the configuration of a regular hexahedron, that is, the eight three-axis magnetometers are respectively located on the vertices of the regular hexahedron, and the side lengths of the regular hexahedron in the x, y and z directions are L respectively x , L y and L z . The center point of the regular hexahedron is P 0 , with P 0 Establish a Cartesian coordinate system P for the origin 0 xyz, Q represent the spatial position of the magnetic body. Side A 1 B 1 C 1 D. 1 、A 2 B 2 C...

Embodiment 2

[0105] Embodiments of the present invention are described in detail below in conjunction with accompanying drawings:

[0106] Step 1. Align the sensitive axes corresponding to the eight three-axis magnetometers with each other, and press figure 1 The configurations shown are respectively placed on two-layer mounting boards to form a regular hexahedron array of three-axis magnetometers.

[0107] Step 2. Calculate the angles according to the spatial positions of the eight three-axis magnetometers of the three-axis magnetometer regular hexahedron array and the cosine value of .

[0108] Step 3. The measurement output of eight three-axis magnetometers collected by the multi-channel data acquisition system and Calculate point P according to formula (1) n The measured values ​​of the five independent components of the magnetic gradient tensor of a magnetic body at and

[0109]

[0110] In the formula

[0111]

[0112]

[0113]

[0114]

[0115] ...

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Abstract

The invention provides a ranging linear positioning algorithm. The algorithm comprises the following steps: computing measurement values of five independent components of magnetic substance magnetic gradient tensors at a to-be-measured point according to the measurements on the magnetic substance magnetic fields by eight triaxial magnetometers of an array; computing the measurement values of the magnetic gradient tensor at the to-be-measured point; dividing the magnetic gradient tensor measurement values into three groups, and computing the distance to different magnetic substances; forming alinear equation between the distance between the to-be-measured point and the magnetic substance, and computing the location coordinate value of the magnetic substance through the linear equation groups. The magnetic gradient tensor of any magnetic substance at the array body center and the surface center can be simultaneously computed through a single measurement result of the array. The algorithm is a fast positioning algorithm, the location of single non-magnetic doublet magnetic substance can be uniquely inverted; the positioning algorithm is fast in speed and free from limiting the magnetic field model of the magnetic substance, and the interference resistance and the stability of the single magnetic substance linear positioning algorithm are enhanced.

Description

technical field [0001] The invention belongs to the technical field of magnetic detection and positioning, and in particular relates to a ranging linear positioning algorithm. Background technique [0002] Different from information sources such as sound fields, light fields, and electromagnetic waves, passive magnetic body detection and positioning technology based on magnetic fields has the advantages of good concealment, continuous detection, high efficiency, simple and reliable use, and rapid response. It has important application value in the detection and positioning of submarines, mines, submarine communication cables, biochemical nuclear waste and unexploded explosives, and the non-invasive positioning of micro-diagnosis and treatment devices in the body. [0003] Mcfee et al. used the least squares method to fit the two-dimensional grid magnetic field measurement data, estimated the parameters of the magnetic body, and proposed a portable total field magnetic detect...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01V3/08
CPCG01V3/08
Inventor 黄玉武立华万博文沈莹于强高俊奇
Owner HARBIN ENG UNIV