A four-point magnetic field positioning method and device based on rotating magnetic dipole

Abstract

The invention relates to a four-point magnetic field positioning method and device based on a rotating magnetic dipole. The method obtains the magnetic field distribution of the magnetic dipole in the magnetic source coordinate system and the observation coordinate system by analyzing the magnetic field distribution of the magnetic dipole in the observation coordinate system. The relationship between the magnetic field strength in the coordinate system, the coordinates of the observation point and the magnetic source coordinate of the magnetic dipole in the magnetic source coordinate system, according to the magnetic field and coordinates of the four points measured in the observation coordinate system, the nonlinear equation is solved by the Newton iteration method, so as to realize Magnetic source target positioning. The invention realizes the positioning of the magnetic source target under the condition of unknown magnetic source information, is less affected by noise, and has high positioning accuracy.

Description

technical field [0001] The invention relates to the field of magnetic field positioning, in particular to a four-point magnetic field positioning method and device based on a rotating magnetic dipole. Background technique [0002] The use of magnetic field signals to achieve magnetic target positioning has always been a research hotspot at home and abroad. Magnetic positioning technology is widely used in medical equipment, geomagnetic matching, military target recognition and drilling exploration and other fields. Sheinker et al. proposed an indoor positioning method based on the quasi-static magnetic field of a rotating magnetic dipole source, and verified through experiments that the algorithm has high positioning accuracy, low computational complexity and strong real-time performance. Christian et al. proposed a magnetic gradient localization algorithm for robotic capsule endoscope based on Jacobian matrix, which locates the capsule position in real time, thereby realiz...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the technical problem that the existing magnetic positioning technology is susceptible to environmental noise and geomagnetic interference. In the first aspect of the present invention, it provides a spatial four-point magnetic field positioning method based on rotating magnetic dipoles, including: constructing a magnetic field The source coordinate system and the observation coordinate system, and the magnetic field model of the rotating magnetic dipole; determine the coordinates of the observation point on the magnetic source coordinate system and the magnetic field distribution of the rotating magnetic dipole according to the magnetic source coordinate system and the magnetic field model According to the equivalent relationship between the rotating magnetic dipole in the observation coordinate system and the magnetic source coordinate system and its magnetic field distribution, determine its coordinates with the observation point in the observation coordinate system and the induced magnetic field strength of the observation point in the observation coordinate system The relationship between; Obtain the induced magnetic field intensity and coordinates of the observation point in the observation coordinate system, according to the induction magnetic field intensity and coordinates of the observation point in the observation coordinate system and the rotating magnetic dipole in the observation coordinate system and the magnetic source coordinate system Equivalent relationship, through the Newton iterative method to solve the coordinates of the rotating magnetic dipole in the observation coordinate system

Images