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Positioning precision improving method based on coil magnetic field regulation and control

A technology of positioning accuracy and coil magnetic field, applied in the field of magnetic positioning, can solve the problems of insufficient positioning accuracy and insufficient error compensation of positioning blind areas

Active Publication Date: 2021-01-29
HARBIN INST OF TECH
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  • Abstract
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Problems solved by technology

[0010] The purpose of the present invention is to propose a positioning accuracy improvement method based on coil magnetic field regulation to solve the problems of positioning blind areas in the existing tensor magnetic positioning method, insufficient error compensation for positioning blind areas, and insufficient positioning accuracy

Method used

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  • Positioning precision improving method based on coil magnetic field regulation and control
  • Positioning precision improving method based on coil magnetic field regulation and control
  • Positioning precision improving method based on coil magnetic field regulation and control

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specific Embodiment

[0149]The prior art proposes the scalar triangulation and ranging (STAR) method based on the invariant of the magnetic gradient tensor, which can locate the magnetic target in real time and the positioning accuracy is not affected by the geomagnetic field. Take the STAR method as an example to illustrate the implementation of the present invention . The positioning error of the STAR method is mainly the aspheric error δ, and the mapping relationship between the aspheric error and the physical quantity is:

[0150]

[0151]From equation (18), it can be seen that the aspheric error δ has a linear relationship with the distance r, and the angleInto a non-linear relationship. Calculate the relative error percentage ρ:

[0152]

[0153]Relative error percentage ρ and physical quantityThe mapping relationship between is shown in 5, it can be seen from the figure that whenorWhen, the relative error is the largest; whenororWhen there is no relative error. Assuming that when the relative error percentag...

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Abstract

The invention discloses a positioning precision improving method based on coil magnetic field regulation and control, and belongs to the technical field of magnetic positioning. An included angle is changed by regulating a magnetic moment direction of a magnetic target so as to avoid a positioning blind area, and the positioning error of the tensor magnetic positioning method is greatly reduced. In the method for avoiding the positioning blind area, the magnetic moment direction of a magnetic target is regulated and controlled by regulating and controlling the magnetic field direction of the coil, the problem that the more the coil axes are, the larger the energy consumption is is considered, the method for avoiding the positioning blind area of the two-axis coil and the three-axis coil isprovided, and a calculation basis is provided for selection of the coil axes in actual use.

Description

Technical field[0001]The invention relates to a positioning accuracy improvement method based on coil magnetic field regulation, and belongs to the technical field of magnetic positioning.Background technique[0002]Magnetic positioning technology is a target positioning technology based on a magnetic field. It has the advantages of all-weather, fast speed and high accuracy. It has demonstrated its unique advantages and application prospects in many fields such as geophysics and biomedicine. When positioning and navigating surgical robots, compared to optical tracking, magnetic positioning technology is not affected by obstructions and has a lower cost. When tracking wireless capsule endoscopes, tongue movements, and magnetic drug markings, compared to radiated CT and expensive MRI, magnetic positioning technology is safer, cheaper and more efficient.[0003]When locating certain magnetic target characteristics (the magnetic moment direction of the magnetic target and the direction rela...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01R33/022G01R33/02
CPCG01C21/00G01R33/022G01R33/0206Y02A90/30
Inventor 林生鑫潘东华王矜婷陈艳路崔浩李立毅
Owner HARBIN INST OF TECH
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