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A Positioning and Design Method Based on Magnetic Gradient Array

A technology of a magnetic gradiometer and a design method, applied in the field of magnetic positioning, can solve the problems of insufficient error compensation in the positioning blind zone, insufficient positioning accuracy, etc.

Active Publication Date: 2021-09-14
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0010] The purpose of the present invention is to propose a positioning based on a magnetic gradiometer array and a design method thereof to solve the problems of positioning blind areas in the prior art tensor magnetic positioning method, insufficient error compensation for positioning blind areas, and insufficient positioning accuracy

Method used

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  • A Positioning and Design Method Based on Magnetic Gradient Array
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  • A Positioning and Design Method Based on Magnetic Gradient Array

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specific Embodiment

[0068] Based on the invariant of the magnetic gradient tensor in the prior art, the scalar triangulation and ranging (STAR) method is proposed, which can locate the magnetic target in real time and the positioning accuracy is not affected by the geomagnetic field. The STAR method is used 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:

[0069]

[0070] It can be seen from formula (8) that the aspheric error δ has a linear relationship with the distance r, and the angle into a non-linear relationship. Calculate the relative error percentage ω:

[0071]

[0072] Relative error percentage ω and physical quantity The mapping relationship between is shown in 5, it can be seen from the figure that when or When , the relative error is the largest; when or or , there is no relative ...

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Abstract

The invention discloses a positioning based on a magnetic gradiometer array and a design method thereof, belonging to the technical field of magnetic positioning. The positioning and design method thereof comprises the following steps: S000, designing the topological structure of the magnetic gradiometer array; S100, calculating the magnetic gradient tensor G (i=1, 2,... , N), wherein, the number of N magnetic gradiometers: S200, use formula (2) to calculate (i=1,2,...,N) at all magnetic gradiometer positions: S300, according to the mapping of positioning blind areas and included angles Obtain the included angle S400 that can minimize the positioning error, and use the magnetic gradient tensor of the number j magnetic gradiometer to calculate the position vector and magnetic moment vector. Based on the distribution law of the positioning blind area, the present invention proposes an array formed by several magnetic gradiometers The method of changing the angle and avoiding the positioning blind area can greatly reduce the positioning error of the tensor magnetic positioning method.

Description

technical field [0001] The invention relates to a positioning based on a magnetic gradiometer array and a design method thereof, belonging to the technical field of magnetic positioning. Background technique [0002] Magnetic positioning technology is a magnetic field-based target positioning technology, which has the advantages of all-weather, fast speed, and high precision. It has demonstrated its unique advantages and application prospects in many fields such as geophysics and biomedicine. Magnetic positioning is unobstructed and less costly than optical tracking when positioning and navigating surgical robots. When tracking wireless capsule endoscopy, tongue movement, and magnetic drug markers, magnetic localization technology is safer, lower cost, and more efficient than radiation-laden CT and expensive MRI. [0003] When locating certain magnetic target characteristics (the magnetic moment direction of the magnetic target and the direction relative to the magnetic pos...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/20A61B5/06A61B1/04G01C21/00G01R33/022
CPCA61B1/00158A61B1/041A61B5/061A61B5/062A61B34/20A61B2034/2046A61B2034/2068G01C21/00G01R33/022
Inventor 林生鑫潘东华靳崇渝王矜婷李立毅
Owner HARBIN INST OF TECH