Magnetic beacon correction method and positioning method based on rotating magnetic dipole

A correction method and positioning method technology, applied in the directions of navigation, instrumentation, surveying and mapping, and navigation, can solve the problems of magnetic beacon installation errors and low navigation accuracy, and achieve the effects of improving accuracy, eliminating interference signals, and eliminating installation errors.

CN111561924AActive Publication Date: 2020-08-21HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2020-08-21

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Abstract

The invention provides a magnetic beacon correction method and a positioning method based on a rotating magnetic dipole, and relates to the technical field of signal positioning. The magnetic beacon correction method comprises the following steps of: acquiring a set magnetic moment direction of a magnetic beacon, and setting a driving current of the magnetic beacon according to the set magnetic moment direction; acquiring feature vectors of the magnetic beacon at three or more target space points, wherein the feature vectors comprise a measurement feature vector and a theoretical feature vector; and calculating a correction matrix of the measurement feature vector relative to the theoretical feature vector according to the feature vectors of the magnetic beacon at three or more target space points. According to the technical scheme, the correction matrix is determined through the measurement feature vector and the theoretical feature vector and is applied to correction of the measurement feature vector of an unknown point, so that the installation error of the magnetic beacon is eliminated, and the navigation precision of the magnetic beacon is improved.
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Description

technical field

[0001] The invention relates to the technical field of signal positioning, in particular to a magnetic beacon calibration method and a positioning method based on a rotating magnetic dipole. Background technique

[0002] With the development of technology, people's demand for location-based services is also increasing. Outdoors, with the improvement and popularization of satellite navigation systems such as GPS and Beidou, positioning accuracy services have basically met people's daily needs; magnetic beacon positioning technology based on feature vectors uses magnetic beacons, which are composed of two screw It is composed of wire tube installation. The middle part is a hollow part for easy access to signals and assembly. This part is prone to installation errors, including non-orthogonal solenoids, misalignment of the fluxgate sensor and the magnetic beacon coordinate system, etc., resulting in low navigation accuracy. . Contents of the invention [000...

Examples

Embodiment Construction

[0034] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0035] like figure 1 As shown, the embodiment of the present invention provides a method for calibrating a magnetic beacon, including: obtaining the set magnetic moment direction of the magnetic beacon, and setting the driving current of the magnetic beacon according to the set magnetic moment direction; obtaining the The feature vectors of the magnetic beacon at three or more target space points, wherein the feature vectors include measured feature vectors and theoretical feature vectors; according to the feature vectors of the magnetic beacon at three or more target space points, the calculated A correction matrix of the measured eigenvectors relative to the theoretical eigenvectors.

[0036] Specifically, in this embodiment, the calibr...