Planar magnetic direction angle detection method, system, medium and device

Abstract

The application provides a planar magnetic direction angle detection method, system, medium and device, and the method comprises the following steps: in a magnetic field space, obtaining the output impedance of a magnetic protein modified ring-shaped microelectrode array placed on a detection plane; and obtaining a planar magnetic direction angle based on the output impedance. The planar magnetic direction angle detection method, system, medium and device can realize the detection of the planar magnetic direction angle based on the magnetic protein modified ring-shaped array sensor, and have high accuracy and strong practicability.

Description

Technical Field

[0001] This invention relates to the technical field of biomimetic information sensing and measurement, and in particular to a planar magnetic orientation angle detection method, system, medium, and device. Background Technology

[0002] The miniaturization, lightweighting, and intelligence trends of intelligent biomimetic unmanned systems are driving the development demand for new sensor devices. Especially in environments with limited GPS signal coverage, such as polar regions, deep mountains, underground areas, and underwater, positioning and navigation have become hot research topics, making the development of novel auxiliary positioning and navigation devices a focus of research. Research shows that the Earth's magnetic field is relatively stable in time and space; the intensity, tilt, and deflection of each point within the magnetic field are uniquely determined, thus providing a foundation for geomagnetic positioning and navigation.

[0003] The use of geomagnetism for navigation is ubiquitous in natural biological systems. As early as 1882, scientists hypothesized that the navigation ability of homing pigeons was related to the Earth's magnetic field. Subsequently, in 1971, American scholar Kenton demonstrated that homing pigeons possess geomagnetic sensing capabilities and can use geomagnetic information for navigation. In 1977, Leask proposed that avian magnetoreceptors might be a type of rhodopsin photosensitive protein in the retina. In 2000, Ritz discovered that the Cry protein, ubiquitous in animal retinas, generates free radical pairs under light excitation, proposing that Cry protein might be a magnetoreceptor. In 2008, American scholar Gegear's experimental study on the magnetic orientation ability of fruit flies further supported the theory of magnetoreceptors. Then, in 2015, Xie Can of Peking University discovered the MagR magnetoreceptor protein and proposed the MagR / Cry4 magnetoreceptor complex biological compass model; experiments confirmed that this complex can sense external magnetic fields and is itself magnetic. Based on research into biomagnetic sensing mechanisms, in 2020, the team led by Gu Ning at Southeast University designed a graphene electrochemical impedance biosensor based on the MagR / Cry4 composite protein on an ITO substrate, achieving single-electrode detection of a 10 mT magnetic field strength. Therefore, current research indicates that geomagnetic navigation is feasible. In geomagnetic navigation, the accuracy of the planar magnetic orientation angle is crucial to the reliability of the navigation. Summary of the Invention

[0004] The embodiments of the present invention provide a planar magnetic orientation angle detection method, system, medium and device, which can realize the detection of planar magnetic orientation angle based on a magnetic protein modified ring array sensor, with high accuracy and strong practicality.

[0005] In a first aspect, the present invention provides a planar magnetic orientation angle detection method, the method comprising the following steps: in a magnetic field space, acquiring the output impedance of a magnetic protein-modified ring microelectrode array placed on a detection plane; and acquiring the planar magnetic orientation angle based on the output impedance.

[0006] In one implementation of the first aspect, obtaining the output impedance of a magnetic protein-modified ring microelectrode array placed on a plane in a magnetic field space includes the following steps:

[0007] Under a magnetic field shielding environment, the first output impedance of a magnetic protein-modified ring microelectrode array placed on a detection plane was obtained;

[0008] In the magnetic field space, the second output impedance of the magnetic protein-modified ring microelectrode array placed on the detection plane is obtained;

[0009] The output impedance is obtained by subtracting the first output impedance from the second output impedance.

[0010] In one implementation of the first aspect, obtaining the planar magnetic orientation angle based on the output impedance includes the following steps:

[0011] Obtain the magnetic field strength corresponding to the output impedance;

[0012] Obtain the maximum value of the magnetic field strength or the maximum value of the gradient of the magnetic field strength;

[0013] The direction of the output impedance corresponding to the maximum value of the magnetic field strength or the maximum value of the gradient of the magnetic field strength is defined as the plane magnetic direction angle.

[0014] In one implementation of the first aspect, obtaining the planar magnetic orientation angle based on the output impedance includes the following steps:

[0015] Normalize the output impedance;

[0016] The normalized output impedance is mapped to a grayscale image;

[0017] Calculate the maximum impedance and maximum impedance gradient of the grayscale image in the radial direction;

[0018] Obtain the first direction angle of the output impedance corresponding to the maximum impedance value and the second direction angle of the output impedance corresponding to the maximum impedance gradient value;

[0019] The weighted average of the first direction angle and the second direction angle is calculated based on preset weights, and the weighted average is used as the planar magnetic direction angle.

[0020] In one implementation of the first aspect, the weight range of the first direction angle is [0,1], the weight range of the second direction angle is [0,1], and the sum of the weights of the first direction angle and the second direction angle is 1.

[0021] In one implementation of the first aspect, the magnetic protein-modified ring microelectrode array employs a MagR / Cry4 composite magnetic protein.

[0022] Secondly, the present invention provides a planar magnetic orientation angle detection system, the system comprising an impedance acquisition module and an orientation angle acquisition module;

[0023] The impedance acquisition module is used to acquire the output impedance of the magnetic protein modified ring microelectrode array placed on the detection plane in the magnetic field space.

[0024] The orientation angle acquisition module is used to acquire the planar magnetic orientation angle based on the output impedance.

[0025] Thirdly, the present invention provides a planar magnetic orientation angle detection device, the planar magnetic orientation angle detection device comprising:

[0026] Memory, configured to store computer programs; and

[0027] The processor is communicatively connected to the memory and is configured to invoke the computer program to execute the planar magnetic orientation angle detection method described above.

[0028] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the planar magnetic orientation angle detection method described above.

[0029] Fifthly, the present invention provides a planar magnetic orientation angle detection system, comprising the above-mentioned planar magnetic orientation angle detection device, detection plane, magnetic protein modified ring microelectrode array, and impedance acquisition module;

[0030] The magnetic protein-modified ring microelectrode array is located in the magnetic field space and placed on the detection plane;

[0031] The impedance acquisition module is used to acquire the output impedance of the magnetic protein modified ring microelectrode array;

[0032] The planar magnetic orientation angle detection device is used to obtain the planar magnetic orientation angle based on the output impedance.

[0033] According to embodiments of the present invention, the planar magnetic orientation angle detection method, system, medium, and device of the present invention can realize the detection of planar magnetic orientation angle based on a magnetic protein modified ring array sensor, with high accuracy, providing a foundation for geomagnetic navigation and positioning, and is highly practical. Attached Figure Description

[0034] Figure 1 The diagram shown is a structural schematic of the planar magnetic orientation angle detection system of the present invention in one embodiment.

[0035] Figure 2 The flowchart shown is an embodiment of the planar magnetic orientation angle detection method of the present invention;

[0036] Figure 3 The diagram shown is a schematic representation of the planar magnetic orientation angle in the sensor coordinate system of this invention in one embodiment.

[0037] Figure 4 The diagram shows the relationship between a grayscale image of the output impedance of the present invention and the planar magnetic orientation angle in one embodiment.

[0038] Figure 5 The diagram shown is a structural schematic of the planar magnetic orientation angle detection system of the present invention in another embodiment;

[0039] Figure 6 The diagram shown is a structural schematic of a planar magnetic orientation angle detection device according to an embodiment of the present invention. Detailed Implementation

[0040] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0041] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0042] In the following description, embodiments of the present invention will be illustrated by way of specific implementation methods in conjunction with the accompanying drawings.

[0043] like Figure 1 As shown, in one embodiment, the planar magnetic orientation angle detection system of the present invention includes a detection plane 1, a magnetic protein-modified ring microelectrode array 2, an impedance acquisition module 3, and a planar magnetic orientation angle detection device 4. The magnetic protein-modified ring microelectrode array 2 is located in the magnetic field space and placed on the detection plane 1, thereby facilitating the detection of the planar magnetic orientation angle. The impedance acquisition module 3 is connected to the magnetic protein-modified ring microelectrode array 2 and is used to acquire the output impedance of the magnetic protein-modified ring microelectrode array 2. The planar magnetic orientation angle detection device 4 is connected to the impedance acquisition module 3 and is used to obtain the planar magnetic orientation angle based on the output impedance. Preferably, the impedance acquisition module 3 employs a multi-channel data acquisition unit to achieve synchronous acquisition of the output impedance.

[0044] A multi-electrode array (MEA) consists of 8x8 (6x10) TiN material electrodes arranged in a lattice on a micro-area glass surface with a diameter of approximately 5 mm. The minimum electrode diameter is 10 μm, and the minimum electrode spacing is 30 μm. Ex vivo tissues, cells, or slices can be directly and tightly placed on the MEAs, allowing for simultaneous recording of extracellular field potential signals at 60 sites. The electrodes can be used for recording, stimulation, or grounding, making them suitable for studying the electrophysiological characteristics of nerve, retinal, and cardiomyocytes and the biological characteristics of ion channels. The magnetic protein-modified ring microelectrode array 2 of this invention is a ring microelectrode array fabricated using MEMS technology. MagR / Cry4 composite magnetic proteins are modified onto the ring microelectrode array using chemical covalent bonds and other coupling methods. Under magnetic field excitation, the spatial conformation of the magnetic sensing protein changes, and this change can be characterized by the output impedance of the microelectrode. The planar magnetic orientation angle can then be detected using this output impedance.

[0045] like Figure 2 As shown, in one embodiment, the planar magnetic orientation angle detection method of the present invention includes the following steps:

[0046] Step S1: In the magnetic field space, obtain the output impedance of the magnetic protein modified ring microelectrode array placed on the detection plane.

[0047] Specifically, before measuring the angle of the planar magnetic field, system testing errors need to be eliminated, mainly including errors in the testing system related to magnetic protein modification, microelectrode fabrication, and data acquisition. The primary error is the initial impedance of the magnetic protein-modified ring microelectrode array under a shielded magnetic field environment. Therefore, obtaining the output impedance of the magnetic protein-modified ring microelectrode array placed on a plane in a magnetic field space includes the following steps:

[0048] 11) Under a magnetic field shielding environment, obtain the first output impedance of the magnetic protein modified ring microelectrode array placed on the detection plane.

[0049] 12) In the magnetic field space, obtain the second output impedance of the magnetic protein modified ring microelectrode array placed on the detection plane.

[0050] 13) Subtract the first output impedance from the second output impedance to obtain the output impedance.

[0051] Step S2: Obtain the planar magnetic orientation angle based on the output impedance.

[0052] Specifically, the measurement of the planar magnetic direction angle γ is transformed into the rotation angle α of the sensor coordinate system relative to the absolute coordinate system of the measurement plane, and the deflection angle β of the magnetic field direction B in the sensor coordinate system, where γ = α + β, as shown in the figure. Figure 1 and Figure 3As shown, since the rotation angle α of the sensor coordinate system relative to the absolute coordinate system can be obtained through initial stage measurement, the online direct measurement of the plane magnetic orientation angle γ of the absolute coordinate system can be transformed into the online measurement of the plane magnetic orientation angle β in the sensor coordinate system.

[0053] In one embodiment, obtaining the planar magnetic orientation angle based on the output impedance includes the following steps:

[0054] 211) Obtain the magnetic field strength corresponding to the output impedance.

[0055] In the magnetic protein-modified ring microelectrode array, the output impedance at different locations corresponds to different magnetic field strengths. The relationship between output impedance and magnetic field strength can be obtained by looking up a table or by linear / nonlinear calculations.

[0056] 212) Obtain the maximum value of the magnetic field strength or the maximum value of the gradient of the magnetic field strength.

[0057] Specifically, the magnetic field strength is fitted into a curve, and the point corresponding to the maximum value or the maximum gradient value in the curve is extracted.

[0058] 213) The direction of the output impedance corresponding to the maximum value of the magnetic field strength or the maximum value of the gradient of the magnetic field strength is the plane magnetic direction angle.

[0059] In another embodiment, obtaining the planar magnetic orientation angle based on the output impedance includes the following steps:

[0060] 221) Normalize the output impedance.

[0061] 222) Map the normalized output impedance to a grayscale image.

[0062] Specifically, such as Figure 4 As shown, for the magnetic protein modified ring microelectrode array, the grayscale image can be obtained by using the normalized output impedance as the grayscale value of the corresponding output impedance position.

[0063] 223) Calculate the maximum impedance and maximum impedance gradient of the grayscale image in the radial direction.

[0064] 224) Obtain the first direction angle of the output impedance corresponding to the maximum impedance value and the second direction angle of the output impedance corresponding to the maximum impedance gradient value.

[0065] 225) Calculate the weighted average of the first direction angle and the second direction angle based on preset weights, and use the weighted average as the planar magnetic direction angle. The weight range for the first direction angle is [0,1], the weight range for the second direction angle is [0,1], and the sum of the weights of the first and second direction angles is 1. That is, when the weight of the first direction angle is 0 and the weight of the second direction angle is 1, the second direction angle is used as the planar magnetic direction angle; when the weight of the first direction angle is 1 and the weight of the second direction angle is 0, the first direction angle is used as the planar magnetic direction angle; otherwise, the planar magnetic direction angle is obtained based on the fusion of the first and second direction angles.

[0066] The scope of protection of the planar magnetic orientation angle detection method described in this embodiment is not limited to the execution order of the steps listed in this embodiment. Any solution implemented by adding, subtracting, or replacing steps in the prior art based on the principle of this invention is included within the scope of protection of this invention.

[0067] This invention also provides a planar magnetic orientation angle detection system, which can implement the planar magnetic orientation angle detection method described in this invention. However, the implementation device of the planar magnetic orientation angle detection system described in this invention includes, but is not limited to, the structure of the planar magnetic orientation angle detection system listed in this embodiment. All structural modifications and substitutions of the prior art made according to the principles of this invention are included within the protection scope of this invention.

[0068] like Figure 5 As shown, in one embodiment, the planar magnetic orientation angle detection system of the present invention includes an impedance acquisition module 51 and an orientation angle acquisition module 52.

[0069] The impedance acquisition module 51 is used to acquire the output impedance of the magnetic protein modified ring microelectrode array placed on the detection plane in the magnetic field space.

[0070] The orientation angle acquisition module 52 is connected to the impedance acquisition module 51 and is used to acquire the planar magnetic orientation angle based on the output impedance.

[0071] It should be noted that the structure and principle of the impedance acquisition module 51 and the orientation angle acquisition module 52 correspond one-to-one with the steps in the above-mentioned planar magnetic orientation angle detection method, so they will not be repeated here.

[0072] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, or methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules / units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or units may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of apparatuses or modules or units may be electrical, mechanical, or other forms.

[0073] The modules / units described as separate components may or may not be physically separate. The components shown as modules / units may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules / units can be selected to achieve the objectives of the embodiments of the present invention, depending on actual needs. For example, the functional modules / units in the various embodiments of the present invention may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0074] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments of the invention herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the invention.

[0075] This invention also provides a computer-readable storage medium. Those skilled in the art will understand that all or part of the steps in the planar magnetic orientation angle detection method of the above embodiments can be implemented by a program instructing a processor. The program can be stored in a computer-readable storage medium, which is a non-transitory medium, such as random access memory, read-only memory, flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disk, and any combination thereof. The storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. This available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital video disc (DVD)), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0076] This invention also provides a planar magnetic orientation angle detection device. The planar magnetic orientation angle detection device includes a processor and a memory.

[0077] The memory is used to store computer programs.

[0078] The memory includes various media capable of storing program code, such as ROM, RAM, magnetic disk, USB flash drive, memory card, or optical disk.

[0079] The processor is connected to the memory and is used to execute the computer program stored in the memory so that the planar magnetic orientation angle detection device performs the planar magnetic orientation angle detection method described above.

[0080] Preferably, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0081] Figure 6This is a schematic diagram illustrating the structure of a planar magnetic orientation angle detection device according to an embodiment of the present invention. Figure 6 As shown, the planar magnetic orientation angle detection device of the present invention is presented in the form of a general-purpose computing device. The components of the planar magnetic orientation angle detection device may include, but are not limited to: one or more processors or processing units 61, a memory 62, and a bus 63 connecting different system components (including the memory 62 and the processing unit 61).

[0082] Bus 63 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0083] Planar magnetic orientation angle detection equipment typically includes a variety of computer-readable media. These media can be any available media that can be accessed by the planar magnetic orientation angle detection equipment, including volatile and non-volatile media, and movable and non-movable media.

[0084] Memory 62 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 621 and / or cache memory 622. The planar magnetic orientation angle detection device may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 623 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 6 Not shown; usually referred to as a "hard drive"). Although Figure 6 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 63 via one or more data media interfaces. Memory 62 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0085] A program / utility 624 having a set (at least one) of program modules 6241 may be stored, for example, in memory 62. Such program modules 6241 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 6241 typically perform the functions and / or methods described in the embodiments of the present invention.

[0086] The planar magnetic orientation angle detection device can also communicate with one or more external devices (e.g., keyboard, pointing device, display, etc.), one or more devices that enable user interaction with the device, and / or any device that enables communication between the device and one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 64. Furthermore, the device can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 65. Figure 6 As shown, network adapter 65 communicates with other modules of the planar magnetic orientation angle detection device via bus 63. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the planar magnetic orientation angle detection device, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0087] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for detecting planar magnetic orientation angle, characterized in that, The method includes the following steps: In a magnetic field space, the output impedance of a magnetic protein-modified ring microelectrode array placed on a detection plane is obtained; The planar magnetic orientation angle is obtained based on the output impedance; Obtaining the planar magnetic orientation angle based on the output impedance includes the following steps: Normalize the output impedance; The normalized output impedance is mapped to a grayscale image; Calculate the maximum impedance and maximum impedance gradient of the grayscale image in the radial direction; Obtain the first direction angle of the output impedance corresponding to the maximum impedance value and the second direction angle of the output impedance corresponding to the maximum impedance gradient value; The weighted average of the first direction angle and the second direction angle is calculated based on preset weights, and the weighted average is used as the planar magnetic direction angle.

2. The planar magnetic orientation angle detection method according to claim 1, characterized in that, Obtaining the output impedance of a magnetic protein-modified ring microelectrode array placed on a plane in a magnetic field space includes the following steps: Under a magnetic field shielding environment, the first output impedance of a magnetic protein-modified ring microelectrode array placed on a detection plane was obtained; In the magnetic field space, the second output impedance of the magnetic protein-modified ring microelectrode array placed on the detection plane is obtained; The output impedance is obtained by subtracting the first output impedance from the second output impedance.

3. The planar magnetic orientation angle detection method according to claim 1, characterized in that, Obtaining the planar magnetic orientation angle based on the output impedance includes the following steps: Obtain the magnetic field strength corresponding to the output impedance; Obtain the maximum value of the magnetic field strength or the maximum value of the gradient of the magnetic field strength; The direction of the output impedance corresponding to the maximum value of the magnetic field strength or the maximum value of the gradient of the magnetic field strength is defined as the plane magnetic direction angle.

4. The planar magnetic orientation angle detection method according to claim 1, characterized in that, The weight range of the first direction angle is [0,1], the weight range of the second direction angle is [0,1], and the sum of the weights of the first direction angle and the second direction angle is 1.

5. The planar magnetic orientation angle detection method according to claim 1, characterized in that, The magnetic protein-modified ring microelectrode array uses MagR / Cry4 composite magnetic protein.

6. A planar magnetic orientation angle detection system, characterized in that, The system includes an impedance acquisition module and a direction angle acquisition module; The impedance acquisition module is used to acquire the output impedance of the magnetic protein modified ring microelectrode array placed on the detection plane in the magnetic field space. The orientation angle acquisition module is used to acquire the planar magnetic orientation angle based on the output impedance; Obtaining the planar magnetic orientation angle based on the output impedance includes the following steps: Normalize the output impedance; The normalized output impedance is mapped to a grayscale image; Calculate the maximum impedance and maximum impedance gradient of the grayscale image in the radial direction; Obtain the first direction angle of the output impedance corresponding to the maximum impedance value and the second direction angle of the output impedance corresponding to the maximum impedance gradient value; The weighted average of the first direction angle and the second direction angle is calculated based on preset weights, and the weighted average is used as the planar magnetic direction angle.

7. A planar magnetic orientation angle detection device, characterized in that, The planar magnetic orientation angle detection device includes: Memory, configured to store computer programs; and The processor is communicatively connected to the memory and configured to invoke the computer program to execute the planar magnetic orientation angle detection method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program is executed by a processor to implement the planar magnetic orientation angle detection method according to any one of claims 1 to 5.

9. A planar magnetic orientation angle detection system, characterized in that, Includes the planar magnetic orientation angle detection device, detection plane, magnetic protein modified ring microelectrode array, and impedance acquisition module as described in claim 7; The magnetic protein-modified ring microelectrode array is located in the magnetic field space and placed on the detection plane; The impedance acquisition module is used to acquire the output impedance of the magnetic protein modified ring microelectrode array; The planar magnetic orientation angle detection device is used to obtain the planar magnetic orientation angle based on the output impedance.

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