Method, apparatus, and storage medium for estimating field strength of target space field

Abstract

The present invention relates to a method, apparatus, and storage medium for estimating the field strength of a target space field. The method includes: establishing a three-dimensional coordinate space of the target space field, dividing the three-dimensional coordinate space along the z-axis into mz x-y coordinate planes, and further dividing each x-y plane along the y-axis into my coordinate parts to obtain a plurality of smallest units; acquiring the field strength measurement values of some spatial points in the target space field; establishing a relationship function between the field strength of the target space field in the three-dimensional coordinate space and each coordinate axis, coordinate plane, and coordinate part; in each divided smallest unit, fitting the field strength measurement values of the partial spatial points into a field strength curve; and determining the field strength estimated value corresponding to any target spatial point according to the field strength curve. Through this technical solution, the purpose of estimating the field characteristics of spatial points is achieved, and the complexity and workload are greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of field strength measurement, and particularly to a method, device and storage medium for estimating the field strength of a target space field. Background Art

[0002] A field refers to a certain spatial region where an object with certain properties can exert a force on a similar object that is not in contact with it. For example, a massive object can exert a gravitational force on all other massive objects due to the action of the gravitational field. Similarly, a charged object exerts a force (attractive or repulsive, depending on the electrical nature) on other charged objects. In physics, it is often necessary to study the distribution and variation law of a certain physical quantity in space.

[0003] The field characteristics (i.e., field strength) of a spatial point are closely related to the position relationship of the point in the field source. Usually, a spatial coordinate is established with the field source as the center to obtain the functional relationship:

[0004] B = f(x, y, z; B0, μ)

[0005] In the formula, B is the field characteristic; x, y, z are the coordinate positions of the spatial point of the field source; B0 is the field source characteristic; and μ is the influence factor.

[0006] To theoretically solve the field characteristics of a spatial point according to the above formula, detailed field source characteristics, accurate position relationships, and possible influence factors need to be given, and appropriate formula derivation methods and error processing methods need to be selected to obtain a more accurate field characteristic estimate, which will be a very complex process. Summary of the Invention

[0007] To overcome the problems existing in the related art, the present invention provides a method, device and storage medium for estimating the field strength of a target space field, achieving the purpose of estimating the field characteristics of a spatial point and greatly reducing the complexity and workload.

[0008] According to the first aspect of the embodiments of the present invention, a method for estimating the field strength of a target space field is provided, and the method includes:

[0009] Determine the target space field;

[0010] Determine the three-dimensional coordinate space of the target space field, divide the three-dimensional coordinate space into mz x-y coordinate levels along the z-axis, and further divide each x-y level into m y coordinate parts along the y-axis to obtain a plurality of smallest units;

[0011] Obtain the field strength measurement values of some spatial points in the target space field, where a fixed step value p x 、p y 、p zMeasure the field strength values along the x-axis direction, y-axis direction, and z-axis direction respectively, and a total of m x ×m y ×m z groups of field strength values are obtained, and each x-y coordinate plane corresponds to m x ×m y groups of field strength measurement values;

[0012] Determine the relationship function between the field strength of the target space field in the three-dimensional coordinate space and each coordinate axis, coordinate plane, and coordinate part;

[0013] In each divided minimum unit, fit the field strength measurement values of the partial space points into a field strength curve;

[0014] According to the field strength curve, determine the field strength estimated value corresponding to any target space point in the target space field.

[0015] In one embodiment, preferably, the relationship function includes:

[0016] B xy (z0) = f(x, y; z0)

[0017] B x (y0, z0) = f(x; y0, z0)

[0018] where B xy (z0) represents the relationship between the field strength and the coordinate part and the x-axis on the z0 coordinate plane; B x (y0, z0) represents the relationship between the field strength and the x-axis on the z0 coordinate plane and the y0 coordinate part.

[0019] In one embodiment, preferably, use the least squares interpolation method to fit the field strength measurement data of the target space field into a field strength curve and save each curve.

[0020] In one embodiment, preferably, determining the field strength estimated value corresponding to any target space point according to the field strength curve includes:

[0021] Determine the coordinates (x0, y0, z0) of the arbitrary target space point;

[0022] Calculate the first field strength value of the field strength curve at x = x0 in each coordinate part under each coordinate plane respectively

[0023] According to the first field strength value, use the least squares interpolation method to fit the first field strength values corresponding to all coordinate parts into a curve and determine the second field strength value under the y0 coordinate part

[0024] According to the second field strength value, the second field strength values at all coordinate levels are fitted into a curve by using the least square interpolation method and determine the third field strength value at the z0 coordinate level, and the third field strength value is the field strength estimation value

[0025] In one embodiment, preferably, the target space field includes any one of the following: magnetic field, electric field, gravitational field, and electromagnetic field

[0026] According to the second aspect of the embodiments of the present invention, there is provided an apparatus for estimating the field strength of a target space field, the apparatus including:

[0027] A first determination module for determining a target space field

[0028] A division module for determining a three-dimensional coordinate space of the target space field, dividing the three-dimensional coordinate space along the z-axis into m z x-y coordinate levels, and further dividing each x-y level along the y-axis into m y coordinate parts to obtain a plurality of minimum units

[0029] An acquisition module for acquiring field strength measurement values of some space points in the target space field, wherein, with a fixed step value p x p y p z measure the field strength values along the x-axis direction, y-axis direction, and z-axis direction respectively, and a total of m x ×m y ×m z groups of field strength values are obtained, and each x-y coordinate level corresponds to m x ×m y groups of field strength measurement values

[0030] A processing module for determining a relationship function between the field strength of the target space field in the three-dimensional coordinate space and each coordinate axis, coordinate level, and coordinate part

[0031] A fitting module for fitting the field strength measurement values of the partial space points into a field strength curve in each divided minimum unit

[0032] A second determination module for determining a field strength estimation value corresponding to any target space point in the target space field according to the field strength curve

[0033] In one embodiment, preferably, the relationship function includes:

[0034] B xy (z0) = f(x, y; z0)

[0035] B x(y0, z0) = f(x; y0, z0)

[0036] where B xy (z0) represents the relationship between the field strength on the z0 - coordinate level and the sum of the coordinate parts and the x - axis; B x (y0, z0) represents the relationship between the field strength on the z0 - coordinate level and the y0 - coordinate part and the x - axis.

[0037] In one embodiment, preferably, the second determination module includes:

[0038] A determination unit, configured to determine the coordinates (x0, y0, z0) of the arbitrary target space point;

[0039] A calculation unit, configured to calculate the first field strength value at x = x0 of the field strength curves in each coordinate part under each coordinate level respectively

[0040] A first fitting unit, configured to fit the first field strength values corresponding to all coordinate parts into a curve by using the least - square interpolation method according to the first field strength values and determine the second field strength value under the y0 - coordinate part

[0041] A second fitting unit, configured to fit the second field strength values under all coordinate levels into a curve by using the least - square interpolation method according to the second field strength values and determine the third field strength value under the z0 - coordinate level, and the third field strength value is the field strength estimation value.

[0042] According to the third aspect of the embodiments of the present invention, there is provided a device for estimating the field strength of a target space field, including:

[0043] A processor;

[0044] A memory for storing instructions executable by the processor;

[0045] wherein, the processor is configured to:

[0046] Determine the target space field;

[0047] Determine the three - dimensional coordinate space of the target space field, divide the three - dimensional coordinate space along the z - axis into mz x - y coordinate levels, and further divide each x - y level along the y - axis into m y coordinate parts to obtain a plurality of minimum units;

[0048] Obtain the field strength measurement values of some space points in the target space field, wherein each x - y coordinate level corresponds to m x ×m y groups of field strength measurement values;

[0049] Determine the relationship function between the field strength of the target space field in the three-dimensional coordinate space and each coordinate axis, coordinate plane, and coordinate part;

[0050] In each divided minimum unit, fit the field strength measurement values of the partial space points into a field strength curve;

[0051] According to the field strength curve, determine the field strength estimation value corresponding to any target space point in the target space field.

[0052] According to the fourth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the steps of the method described in any one of the embodiments of the second aspect are implemented.

[0053] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

[0054] In the embodiments of the present invention, for the target space field, the field strength of limited space points is measured, the relationship formulas between the field strength and the x-plane, y-plane, and z-plane are respectively established, and the field strength of any point in space is estimated through the step-by-step fitting of the three azimuth curves, thereby achieving the purpose of estimating the field strength of space points and greatly reducing the complexity and workload.

[0055] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention.

[0057] Figure 1 is a flowchart of a method for estimating the field strength of a target space field shown according to an exemplary embodiment.

[0058] Figure 2 is a flowchart of step S105 in a method for estimating the field strength of a target space field shown according to an exemplary embodiment.

[0059] Figure 3 is a schematic diagram of the spatial magnetic field strength distribution of different space points shown according to an exemplary embodiment.

[0060] Figure 4 is a schematic diagram of the magnetic induction intensity distribution in each coordinate plane shown according to an exemplary embodiment.

[0061] Figure 5It is a schematic diagram of the magnetic induction intensity distribution shown according to an exemplary embodiment.

[0062] Figure 6 It is a schematic diagram of all fitting curves shown according to an exemplary embodiment.

[0063] Figure 7 It is a schematic diagram of fitting curves at different levels when x0 = 150 shown according to an exemplary embodiment.

[0064] Figure 8 It is a schematic diagram of the magnetic field curve shown according to an exemplary embodiment.

[0065] Figure 9 It is a block diagram of a field strength estimation device for a target space field shown according to an exemplary embodiment.

[0066] Figure 10 It is a block diagram of a second determination module in a field strength estimation device for a target space field shown according to an exemplary embodiment. Detailed implementation manners

[0067] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0068] Figure 1 It is a flowchart of a field strength estimation method for a target space field shown according to an exemplary embodiment.

[0069] As Figure 1 shown, according to the first aspect of the embodiments of the present invention, there is provided a field strength estimation method for a target space field, and the method includes:

[0070] Step S101, determining a target space field;

[0071] Step S102, determining a three-dimensional coordinate space of the target space field, dividing the three-dimensional coordinate space along the z-axis into m z x-y coordinate levels, and further dividing each x-y level along the y-axis into m y coordinate parts to obtain a plurality of minimum units; in one embodiment, preferably, the target space field includes any one of the following: magnetic field, electric field, gravitational field, and electromagnetic field.

[0072] Step S103, obtaining field strength measurement values of some space points in the target space field, where, with a fixed step value p x, p y , p z Measure the field strength values along the x-axis direction, y-axis direction, and z-axis direction respectively, and a total of m x ×m y ×m z groups of field strength values are obtained, and each x-y coordinate layer corresponds to m x ×m y groups of field strength measurement values;

[0073] Step S104, determine the relationship function between the field strength of the target space field in the three-dimensional coordinate space and each coordinate axis, coordinate layer, and coordinate part;

[0074] In each layer, the z-axis coordinate value is fixed, and the field strength function of the space point field in the coordinate layer is:

[0075] B xy (z0) = f(x, y; z0)

[0076] In each coordinate part of the same coordinate layer, the y-axis coordinate value is also fixed, and the field strength function of the space point field in the coordinate part is

[0077] B x (y0, z0) = f(x; y0, z0)

[0078] At this time, the change of the field strength of the space point is only related to the x-axis coordinate value.

[0079] Step S105, in each divided minimum unit, fit the field strength measurement values of the partial space points into a field strength curve;

[0080] In one embodiment, preferably, the least square interpolation method is used to fit the field strength measurement data of the target space field into a field strength curve and save them one by one. The curve is recorded as b ij , i = 1, 2, 3,..., m z ; j = 1, 2,, 3,..., m y , where i represents the i-th coordinate layer and j represents the j-th coordinate part. So far, m z coordinate layers and m y coordinate parts are fitted into a total of m y ×m z field strength curves.

[0081] Based on this, the field strength value B x (ys, zt) at any x coordinate in a specific part of a specific layer can be obtained, s = 1, 2, 3,..., m z ; t = 1, 2, 3,..., m y , where y s represents the specific coordinate part, zt Represents a specific coordinate plane. That is, the field strength value of any point in a certain coordinate part of a certain coordinate plane can be determined.

[0082] Step S106, according to the field strength curve, determine the field strength estimated value corresponding to any target space point.

[0083] Figure 2 It is a flowchart of step S105 in a method for estimating the field strength of a target space field shown according to an exemplary embodiment.

[0084] Such as Figure 2 As shown, in one embodiment, preferably, the above step S105 includes:

[0085] Step S201, determine the coordinates (x0, y0, z0) of the any target space point;

[0086] Step S202, calculate respectively the first field strength value of the field strength curve at x = x0 in each coordinate part under each coordinate plane (fixing the Z-axis coordinate value)

[0087] Step S203, according to the first field strength value, use the least square interpolation method to fit the first field strength values corresponding to all coordinate parts into a curve And determine the second field strength value under the y0 coordinate part In each coordinate plane, the field strength value of the point with coordinates (x0, y0) can be obtained

[0088] Step S204, according to the second field strength value, use the least square interpolation method to fit the second field strength values under all coordinate planes into a curve And determine the third field strength value under the z0 coordinate plane, and the third field strength value is the field strength estimated value.

[0089] Next, use the measured data to verify the accuracy of the above field strength estimated value of the present invention.

[0090] This data verification is only an example of an actual application, and the example is used to illustrate the estimation method.

[0091] To verify the practicability and effectiveness of this method, an experiment is carried out with the magnetic field strength as the object. In the space range of 600 cm × 600 cm × 600 cm, scanning measurements are carried out along the x-axis direction, y-axis direction, and z-axis direction with a step of 15 cm respectively, and a total of 68921 groups of data are collected. The test space is divided into 41 planes, each plane is further divided into 41 parts, and there are 41 measurement data in each part.

[0092] In this magnetic field space, to obtain the magnetic field strength at any point, the field strength estimation method of layer-by-layer peeling is adopted for field strength estimation. First, the test measurement data are sorted out, and the data are arranged to generate a four-dimensional matrix D(x i , y j , z l , B m ), where i = 1, 2, …, 41; j = 1, 2, …, 41; l = 1, 2, …, 41; m = 1, 2, …, 69821. The magnetic field strength distributions at different spatial points are as shown in Figure 3 .

[0093] According to the z-axis values, the four-dimensional matrix is divided to generate planes at different z-axis values, and three-dimensional matrices D k are obtained at z = z zk (x i , y j , B n ), where i = 1, 2, …, 41; j = 1, 2, …, 41; n = (k - 1)×1681 + 1, …, k×1681. The schematic diagrams of the magnetic induction intensity distributions in each layer are as shown in Figure 4 .

[0094] Continue to divide the geomagnetic field in the x-y plane. According to the y-axis values, the three-dimensional matrix is divided to generate regions at different y-axis values, and two-dimensional matrices k are obtained at z = z l , y = y In the first part of the k-th layer, the schematic diagram of the magnetic induction intensity distribution is as shown in Figure 5 .

[0095] As shown in Figures 3 - 5 , it can be intuitively seen that the distribution of the spatial magnetic field is relatively regular and can be fitted into regular curves in both space and the plane. To obtain the magnetic induction intensity at any point in space, any curve in three-dimensional space needs to be fitted.

[0096] According to the above analysis and division, first, the measurement data of each part of each layer are fitted into curves, and all the curves are stored. There are 41 layers and 41 parts, and a total of 1861 fitting curves can be obtained. The constant parameters, coefficient parameters, and dimensions of each curve are stored in the matrix Among them, b kp are constant parameters, and u is the coefficient. All the fitting curves are as shown in Figure 6 .

[0097] For any point A(x0, y0, z0) in space, it may not be in Figure 6On any curve, to obtain the magnetic induction intensity at a point, first fix the x - coordinate value. On the curves fitted for each part of each layer, when \(x = x_0\), 41 magnetic field intensity values are obtained in each plane, denoted as a sequence Fit curves again in each layer according to the obtained sequence The constant parameters, coefficient parameters and number of digits of each curve are stored in the matrix Among them, are constant parameters, are coefficient parameters, and \(v\) is the dimension of the fitted curve. Secondly, fix the y - coordinate value, when \(y = y_0\), 1 magnetic field intensity value is obtained in each plane, and a total of 41 magnetic field intensity values in space, denoted as Fit curves in space according to this sequence The constant parameters, coefficient parameters and dimension of each curve are stored in the matrix Among them, are constant parameters, are coefficient parameters, and \(t\) is the dimension of the fitted curve. When \(z = z_0\), the magnetic induction intensity at point A is obtained.

[0098] Taking point A with values \((150, 150, 150)\) as an example for intuitive illustration. When \(x_0 = 150\), a set of curves is obtained through fitting, such as Figure 7 as shown

[0099] Point A must exist on the space plane where the Figure 7 curve is located, but it may not be on any of the curves in the above figure.

[0100] Taking \(y_0 = 150\) on each curve, the magnetic field curve in the space where point A is located is obtained through fitting. The magnetic field curve is as Figure 8 shown. Then point A must exist on the Figure 8 curve shown. Continuing to take \(z_0 = 150\), the magnetic field intensity at point A is \(16697nT\), the experimental measurement value is \(16644nT\), and the estimated error of the magnetic field intensity is \(0.31\%\). It can be seen that this method has a good effect on estimating the space magnetic field intensity.

[0101] Figure 9 is a block diagram of a device for estimating the field intensity of a target space field shown according to an exemplary embodiment.

[0102] As Figure 9 shown, according to the second aspect of the embodiments of the present invention, a device for estimating the field intensity of a target space field is provided. The device includes:

[0103] A first determination module 90, configured to determine the target space field;

[0104] Partitioning module 91, configured to determine the three-dimensional coordinate space of the target space field, divide the three-dimensional coordinate space along the z-axis into m z x-y coordinate levels, and further divide each x-y level along the y-axis into m y coordinate parts to obtain a plurality of smallest units;

[0105] Acquisition module 92, configured to acquire the field intensity measurement values of some space points in the target space field, where each x-y coordinate level corresponds to m x ×m y groups of field intensity measurement values;

[0106] Processing module 93, configured to determine the relationship function between the field intensity of the target space field in the three-dimensional coordinate space and each coordinate axis, coordinate level, and coordinate part;

[0107] Fitting module 94, configured to fit the field intensity measurement values of the partial space points into a field intensity curve in each divided smallest unit;

[0108] Second determination module 95, configured to determine the field intensity estimation value corresponding to any target space point in the target space field according to the field intensity curve.

[0109] In one embodiment, preferably, the relationship function includes:

[0110] B xy (z0) = f(x, y; z0)

[0111] B x (y0, z0) = f(x; y0, z0)

[0112] where B xy (z0) represents the relationship between the field intensity under the z0 coordinate level and the coordinate part and the x-axis; B x (y0, z0) represents the relationship between the field intensity and the x-axis under the z0 coordinate level and the y0 coordinate part.

[0113] Figure 10 is a block diagram of the second determination module in a field intensity estimation device for a target space field shown according to an exemplary embodiment.

[0114] As Figure 10 shown, in one embodiment, preferably, the second determination module includes:

[0115] Determination unit 1001, configured to determine the coordinates (x0, y0, z0) of the arbitrary target space point;

[0116] Calculation unit 1002, configured to calculate, respectively, the first field intensity value when x = x0 of the field intensity curve in each coordinate part under each coordinate level

[0117] The first fitting unit 1003 is configured to fit the first field strength values corresponding to all coordinate parts into a curve by using the least - squares interpolation method according to the first field strength values and determine the second field strength value at the y0 coordinate part

[0118] The second fitting unit 1004 is configured to fit the second field strength values at all coordinate levels into a curve by using the least - squares interpolation method according to the second field strength values and determine the third field strength value at the z0 coordinate level, and the third field strength value is the field strength estimated value

[0119] According to a third aspect of the embodiments of the present invention, there is provided a device for estimating the field strength of a target space field, including:

[0120] A processor;

[0121] A memory for storing instructions executable by the processor;

[0122] Wherein, the processor is configured to:

[0123] Determine a target space field;

[0124] Determine the three - dimensional coordinate space of the target space field, divide the three - dimensional coordinate space along the z - axis into m z x - y coordinate levels, and further divide each x - y level along the y - axis into m y coordinate parts to obtain a plurality of minimum units;

[0125] Obtain the field strength measurement values of some space points in the target space field, where each x - y coordinate level corresponds to m x ×m y groups of field strength measurement values;

[0126] Determine the relationship function between the field strength of the target space field in the three - dimensional coordinate space and each coordinate axis, coordinate level and coordinate part;

[0127] In each divided minimum unit, fit the field strength measurement values of the some space points into a field strength curve;

[0128] According to the field strength curve, determine the field strength estimated value corresponding to any target space point in the target space field

[0129] According to a fourth aspect of the embodiments of the present invention, there is provided a computer - readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the steps of the method according to any one of the embodiments of the second aspect are implemented

[0130] It can be further understood that although the operations are described in a specific order in the drawings in the embodiments of the present invention, it should not be construed as requiring these operations to be performed in the specific order shown or in a serial order, or requiring all the operations shown to obtain the desired result. In certain environments, multitasking and parallel processing may be advantageous.

[0131] Those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include known common knowledge or conventional technical means in the technical field not disclosed by the present invention. The specification and examples are only illustrative, and the true scope and spirit of the present invention are pointed out by the following claims.

[0132] It should be understood that the present invention is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A method for estimating the field strength of a target space field, characterized in that The method includes: Determine a target space field; Determine the three-dimensional coordinate space of the target spatial field, and divide the three-dimensional coordinate space into m z x-y coordinate levels along the z-axis, and then divide each x-y coordinate level into m y coordinate parts along the y-axis to obtain a plurality of minimum units; Obtain the field strength measurement values of some spatial points in the target space field, where a fixed step value p x , p y , p z Measure the field strength values along the x-axis direction, y-axis direction, and z-axis direction respectively, and a total of m x ×m y ×m z groups of field strength values are obtained. Each x-y coordinate plane corresponds to m x ×m y groups of field strength measurement values; Determine the relationship function between the field intensity of the target space field in the three-dimensional coordinate space and each coordinate axis, coordinate plane, and coordinate part; In each divided minimum unit, fit the field intensity measurement values of the partial space points into a field intensity curve; According to the field intensity curve, determine the field intensity estimated value corresponding to any target space point in the target space field.

2. The method according to claim 1, wherein The relationship function includes: B xy (z0) = f(x, y; z0) B x (y0, z0) = f(x; y0, z0) Among them, B xy (z0) represents the relationship between the field strength and the x-axis and y-axis at the z0 coordinate level; B x (y0, z0) represents the relationship between the field strength and the x-axis under the z0 coordinate level and the y0 coordinate part.

3. The method according to claim 1, wherein Use the least squares interpolation method to fit the field intensity measurement data of the target space field into a field intensity curve and save each curve one by one.

4. The method according to claim 1, characterized in that According to the field intensity curve, determining the field intensity estimated value corresponding to any target space point in the target space field includes: Determine the coordinates (x0, y0, z0) of the arbitrary target space point; Calculate the first field strength value of the field strength curve of each coordinate part at x = x0 in each coordinate layer respectively where y s represents a specific coordinate part; According to the first field strength value, the first field strength values corresponding to all coordinate parts are fitted into a curve by using the least square interpolation method and determine the second field strength value under the y0 coordinate part According to the second field strength value, the second field strength values at all coordinate levels are fitted into a curve by using the least square interpolation method And the third field strength value at the z0 coordinate level is determined, and the third field strength value is the field strength estimation value 5. The method according to claim 1, wherein The target space field includes any one of the following: magnetic field, electric field, gravitational field, and electromagnetic field.

6. A field strength estimation device for a target space field, characterized in that, The device includes: A first determination module that determines a target space field; A partitioning module, configured to determine a three-dimensional coordinate space of the target spatial field, divide the three-dimensional coordinate space along the z-axis into m z x-y coordinate levels, and further divide each x-y level along the y-axis into m y coordinate parts, so as to obtain a plurality of minimum units; An acquisition module for acquiring field strength measurement values of some spatial points in the target space field, where the field strength values are measured along the x-axis direction, y-axis direction, and z-axis direction respectively with a fixed step value p, p, p, and a total of m × m × m groups of field strength values are obtained, and each x-y coordinate plane corresponds to m × m groups of field strength measurement values; x p y p z respectively, and a total of m x × m y × m z groups of field strength values are obtained, and each x-y coordinate plane corresponds to m x × m y groups of field strength measurement values; A processing module for determining the relationship function between the field intensity of the target space field in the three-dimensional coordinate space and each coordinate axis, coordinate plane, and coordinate part; A fitting module for fitting the field intensity measurement values of the partial space points into a field intensity curve in each divided minimum unit; A second determination module for determining the field intensity estimated value corresponding to any target space point in the target space field according to the field intensity curve.

7. The device according to claim 6, characterized in that, The relationship function includes: B xy (z0) = f(x, y; z0) B x (y0,z0) = f(x; y0,z0) Among them, B xy (z0) represents the relationship between the field strength and the x-axis and y-axis at the z0 coordinate level; B x (y0, z0) represents the relationship between the field strength and the x-axis under the z0 coordinate level and the y0 coordinate part.

8. The device according to claim 6, characterized in that, The second determination module includes: A determination unit for determining the coordinates (x0, y0, z0) of the arbitrary target space point; A calculation unit for respectively calculating, at each coordinate level, a first field strength value of a field strength curve in each coordinate part at x = x0 where y s represents a specific coordinate part; The first fitting unit is configured to fit the first field strength values corresponding to all coordinate parts into a curve by using the least squares interpolation method according to the first field strength values and determine the second field strength value at the y0 coordinate part A second fitting unit, configured to fit the second field strength values at all coordinate levels into a curve by using a least squares interpolation method according to the second field strength values and determine a third field strength value at the z0 coordinate level, where the third field strength value is the estimated field strength value.

9. A field strength estimation device for a target space field, characterized in that, The device includes: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to: Determine a target space field; Determine the three-dimensional coordinate space of the target spatial field, and divide the three-dimensional coordinate space into m z x-y coordinate planes along the z-axis, and further divide each x-y plane into m y coordinate parts along the y-axis to obtain a plurality of minimum units; Obtain the field strength measurement values of some spatial points in the target space field, where a fixed step value p x , p y , p z Measure the field strength values along the x-axis direction, y-axis direction, and z-axis direction respectively, and a total of m x ×m y ×m z groups of field strength values are obtained, and each x-y coordinate plane corresponds to m x ×m y groups of field strength measurement values; Determine the relationship function between the field intensity of the target space field in the three-dimensional coordinate space and each coordinate axis, coordinate plane, and coordinate part; In each divided minimum unit, fit the field intensity measurement values of the partial space points into a field intensity curve; According to the field intensity curve, determine the field intensity estimated value corresponding to any target space point in the target space field.

10. A computer-readable storage medium having computer instructions stored thereon, characterized in that, When the instruction is executed by the processor, it implements the steps of the method described in any one of claims 1-5.

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