Electromagnetic signal processing method, apparatus and electromagnetic positioning system

Abstract

The application discloses an electromagnetic signal processing method and device and an electromagnetic positioning system. The electromagnetic signal processing method is executed by the electromagnetic positioning system, the system comprises a magnetic transmitter composed of multiple transmitting coils and a magnetic receiver composed of multiple receiving coils, and the method comprises the following steps: controlling each transmitting coil to emit an electromagnetic signal according to a preset transmitting condition, wherein the preset transmitting condition comprises a transmitting interval of the transmitting coil; acquiring electromagnetic induction data of the multiple receiving coils based on the electromagnetic signal emitted by each transmitting coil; and performing signal separation processing on the electromagnetic induction data of the multiple receiving coils by using a preset signal separation strategy according to the electromagnetic induction data of the multiple receiving coils, so as to obtain separated electromagnetic induction data. By controlling the transmitting interval of the multiple transmitting coils, the electromagnetic induction data received by the multiple receiving coils can be accurately separated, mutual interference of adjacent frame electromagnetic signals is avoided, and the accuracy of subsequent positioning based on the electromagnetic induction data is improved.

Description

Technical Field

[0001] This application relates to the field of signal processing technology, and in particular to an electromagnetic signal processing method, apparatus and electromagnetic positioning system. Background Technology

[0002] The principle of electromagnetic induction technology is that an alternating current is passed through a metal coil, which generates an alternating magnetic field around it. This field induces an alternating electromotive force in other nearby coils. Currently, three-dimensional spatial positioning schemes based on electromagnetic induction technology typically require six degrees of freedom (6DOF) information between the magnetic transmitter and receiver. This information includes the translational distance of the rigid body along three mutually perpendicular coordinate axes (front / back, up / down, left / right) and the rotational direction along these three axes. These three rotational directions are called pitch, yaw, and roll.

[0003] Conventional magnetic transmitters based on a single transmitting coil and magnetic receivers based on a triaxial orthogonal receiving coil cannot meet the requirements for resolving the six unknowns mentioned above. Therefore, a multi-transmitter, multi-receiver scheme combined with software algorithms is needed for analysis. However, since each receiving coil receives electromagnetic signals emitted by all transmitting coils, the multi-transmitter, multi-receiver scheme requires synchronization and separation of the individual signal components.

[0004] In traditional schemes, multiple transmitting coils take turns transmitting signals in a fixed order. However, this method is based on the waveform of the signal sensed by the receiving coil, which may not be able to accurately determine the start time of the frame, thus leading to incorrect signal order. Furthermore, the separated signal may be mixed with signals from other frames, resulting in the parsing of incorrect 6DoF information. Summary of the Invention

[0005] This application provides an electromagnetic signal processing method, apparatus, and electromagnetic positioning system to improve the accuracy of electromagnetic signal separation and electromagnetic positioning.

[0006] The embodiments of this application adopt the following technical solutions:

[0007] In a first aspect, embodiments of this application provide an electromagnetic signal processing method, which is executed by an electromagnetic positioning system. The electromagnetic positioning system includes a magnetic transmitter composed of multiple transmitting coils and a magnetic receiver composed of multiple receiving coils. The electromagnetic signal processing method includes:

[0008] The electromagnetic transmitter controls each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions, including the transmission interval of the transmitting coils;

[0009] Based on the electromagnetic signals emitted by each transmitting coil, electromagnetic induction data of multiple receiving coils in the magnetic receiver are obtained;

[0010] Based on the electromagnetic induction data of multiple receiving coils, a preset signal separation strategy is used to perform signal separation processing on the electromagnetic induction data of the multiple receiving coils to obtain separated electromagnetic induction data.

[0011] Optionally, controlling each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions includes:

[0012] Determine the preset magnetic blanking signal;

[0013] During the process of controlling the electromagnetic signals emitted by each transmitting coil in the magnetic transmitter, the interval between the electromagnetic signals emitted by each transmitting coil is controlled by inserting the preset magnetic blanking signal.

[0014] Optionally, the preset magnetic blanking signal includes an inter-frame magnetic blanking signal, and the interval for controlling the transmission of electromagnetic signals by inserting the preset magnetic blanking signal during the process of controlling each transmission coil in the magnetic transmitter to transmit electromagnetic signals includes:

[0015] During the process of controlling the transmission of electromagnetic signals by each transmitting coil in the magnetic transmitter, the inter-frame transmission interval of multiple transmitting coils is controlled by inserting the inter-frame magnetic blanking signal.

[0016] The inter-frame transmission interval refers to the time interval between two adjacent frames of electromagnetic induction data. A frame of electromagnetic induction data is generated after each transmitting coil transmits an electromagnetic signal once in sequence.

[0017] Optionally, during the process of controlling the transmission of electromagnetic signals by each transmitting coil in the magnetic transmitter, controlling the inter-frame transmission interval of multiple transmitting coils by inserting the inter-frame magnetic blanking signal includes:

[0018] Based on the preset transmission sequence and preset transmission time of each transmitting coil, control each transmitting coil to transmit an electromagnetic signal once in sequence;

[0019] After each transmitting coil transmits an electromagnetic signal once in sequence, the inter-frame magnetic blanking signal is inserted.

[0020] After inserting the inter-frame magnetic blanking signal, based on the preset transmission sequence and preset transmission time of each transmitting coil, each transmitting coil is controlled to transmit the next electromagnetic signal in sequence.

[0021] Optionally, the preset magnetic blanking signal includes an inter-axis magnetic blanking signal, and the interval for controlling the electromagnetic signal transmission of each transmitting coil by inserting the preset magnetic blanking signal during the process of controlling the electromagnetic signal transmission of each transmitting coil in the magnetic transmitter includes:

[0022] During the process of controlling the electromagnetic signals emitted by each transmitting coil in the magnetic transmitter, the inter-axis transmission interval between multiple transmitting coils is controlled by inserting the inter-axis magnetic blanking signal.

[0023] The inter-axis transmission interval refers to the time interval between two adjacent transmission coils during the process of multiple transmission coils transmitting a signal in sequence.

[0024] Optionally, during the process of controlling the electromagnetic signal transmission of each transmitting coil in the magnetic transmitter, controlling the inter-axis transmission interval between multiple transmitting coils by inserting the inter-axis magnetic blanking signal includes:

[0025] Based on the preset transmission sequence and preset transmission time of each transmitting coil, the first transmitting coil is controlled to transmit an electromagnetic signal once;

[0026] After the first transmitting coil transmits an electromagnetic signal once, the inter-axis magnetic blanking signal is inserted;

[0027] After inserting the interaxial magnetic blanking signal, the next transmitting coil is controlled to transmit an electromagnetic signal once based on the preset transmission sequence and preset transmission time of each transmitting coil.

[0028] Optionally, the step of performing signal separation processing on the electromagnetic induction data of the multiple receiving coils using a preset signal separation strategy to obtain the separated electromagnetic induction data includes:

[0029] Determine whether a preset zero field strength signal exists in the electromagnetic induction data;

[0030] If a preset zero field strength signal exists in the electromagnetic induction data, determine the duration of the preset zero field strength signal;

[0031] The electromagnetic induction data of the multiple receiving coils are processed by signal separation based on the duration of the preset zero field strength signal and the transmission time of the preset magnetic blanking signal to obtain the separated electromagnetic induction data.

[0032] Optionally, the preset zero field strength signal includes a first preset zero field strength signal and a second preset zero field strength signal, and the preset magnetic blanking signal includes an inter-frame magnetic blanking signal and an inter-axis magnetic blanking signal. The step of performing signal separation processing on the electromagnetic induction data of the plurality of receiving coils based on the duration of the preset zero field strength signal and the transmission time of the preset magnetic blanking signal to obtain separated electromagnetic induction data includes:

[0033] When the duration of the first preset zero field strength signal is consistent with the transmission time of the inter-frame magnetic blanking signal, the electromagnetic induction data of the multiple receiving coils are subjected to inter-frame signal separation processing based on the first preset zero field strength signal to obtain multiple frames of electromagnetic induction data.

[0034] When the duration of the second preset zero field strength signal is consistent with the transmission time of the inter-axis magnetic blanking signal, inter-axis signal separation processing is performed on each frame of electromagnetic induction data to obtain the electromagnetic induction data of each axis in each frame of electromagnetic induction data.

[0035] Secondly, embodiments of this application also provide an electromagnetic signal processing device, which is applied to an electromagnetic positioning system, and the electromagnetic signal processing device includes:

[0036] The control unit is used to control each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions, the preset transmission conditions including the transmission interval of the transmitting coils;

[0037] The acquisition unit is used to acquire electromagnetic induction data of multiple receiving coils in the magnetic receiver based on the electromagnetic signals emitted by each transmitting coil.

[0038] The separation unit is used to perform signal separation processing on the electromagnetic induction data of the multiple receiving coils based on the electromagnetic induction data of the multiple receiving coils using a preset signal separation strategy, so as to obtain the separated electromagnetic induction data.

[0039] Thirdly, embodiments of this application also provide an electromagnetic positioning system, comprising:

[0040] A magnetic transmitter consisting of multiple transmitting coils and a magnetic receiver consisting of multiple receiving coils;

[0041] Processor; and

[0042] A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform any of the aforementioned electromagnetic signal processing methods.

[0043] Fourthly, embodiments of this application also provide a computer-readable storage medium storing one or more programs that, when executed by an electromagnetic positioning system including multiple applications, cause the electromagnetic positioning system to perform any of the methods described above.

[0044] The at least one technical solution adopted in this application embodiment can achieve the following beneficial effects: The electromagnetic signal processing method in this application embodiment is executed by an electromagnetic positioning system. The electromagnetic positioning system includes a magnetic transmitter composed of multiple transmitting coils and a magnetic receiver composed of multiple receiving coils. During electromagnetic signal processing, firstly, each transmitting coil in the magnetic transmitter is controlled to transmit electromagnetic signals according to preset transmission conditions, including the transmission interval of the transmitting coils. Then, based on the electromagnetic signals transmitted by each transmitting coil, electromagnetic induction data of multiple receiving coils in the magnetic receiver is obtained. Finally, based on the electromagnetic induction data of multiple receiving coils, a preset signal separation strategy is used to perform signal separation processing on the electromagnetic induction data of multiple receiving coils to obtain separated electromagnetic induction data. The electromagnetic signal processing method in this application embodiment, by controlling the transmission interval of multiple transmitting coils, enables the electromagnetic induction data received by multiple receiving coils to be accurately separated, avoiding mutual interference between electromagnetic signals of adjacent frames, and improving the accuracy of subsequent positioning based on electromagnetic induction data. Attached Figure Description

[0045] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0046] Figure 1 This is a flowchart illustrating an electromagnetic signal processing method according to an embodiment of this application;

[0047] Figure 2 This is a waveform diagram of an existing technology in which multiple transmitting coils transmit electromagnetic signals.

[0048] Figure 3 This is a waveform diagram of an electromagnetic signal induced by multiple receiving coils in the prior art;

[0049] Figure 4 This is a schematic diagram of the waveform emitted by the transmitting coil after inserting a preset magnetic blanking signal in an embodiment of this application;

[0050] Figure 5 This is a schematic diagram of an ideal waveform induced by the receiving coil after inserting a preset magnetic blanking signal in an embodiment of this application.

[0051] Figure 6 This is a schematic diagram of the actual waveform induced by the receiving coil after inserting a preset magnetic blanking signal in an embodiment of this application;

[0052] Figure 7 This is a schematic diagram of the structure of an electromagnetic signal processing device according to an embodiment of this application;

[0053] Figure 8This is a schematic diagram of the structure of an electromagnetic positioning system according to an embodiment of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0056] This application provides an electromagnetic signal processing method, such as... Figure 1 The diagram shows a flowchart of an electromagnetic signal processing method according to an embodiment of this application. The electromagnetic signal processing method is executed by an electromagnetic positioning system, which includes a magnetic transmitter composed of multiple transmitting coils and a magnetic receiver composed of multiple receiving coils. The electromagnetic signal processing method includes at least the following steps S110 to S130:

[0057] Step S110: Control each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions, the preset transmission conditions including the transmission interval of the transmitting coils.

[0058] The electromagnetic signal processing method in this application embodiment is executed by an electromagnetic positioning system. The electromagnetic positioning system includes a magnetic transmitter composed of multiple transmitting coils and a magnetic receiver composed of multiple receiving coils. The specific number of transmitting coils and receiving coils can be flexibly set by those skilled in the art according to the actual scenario requirements, and is not specifically limited here. For example, if the actual scenario requires obtaining the 6DoF between the magnetic transmitter and the magnetic receiver, then a three-axis orthogonal transmitter composed of three transmitting coils and a three-axis orthogonal receiver composed of three receiving coils can be used.

[0059] like Figure 2 As shown, a waveform diagram of electromagnetic signals transmitted by multiple transmitting coils in the prior art is provided, such as... Figure 3 The diagram shows a waveform of electromagnetic signals induced by multiple receiving coils in a prior art. It can be seen that in traditional multi-transmitter, multi-receiver schemes, multiple transmitting coils transmit electromagnetic signals in a fixed sequence, continuously and cyclically, with no time interval between each transmission. This leads to problems such as the inability to accurately determine the start time of frames during subsequent signal separation, resulting in incorrect signal order. Furthermore, the separated signals may be mixed with signals from other frames, leading to the parsing of incorrect 6DoF information.

[0060] Based on this, in the embodiment of this application, when performing electromagnetic signal processing based on the above-mentioned electromagnetic positioning system, it is necessary to first control each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to the preset transmission conditions. The main control here is the time interval between the transmission of electromagnetic signals by each transmitting coil. The setting of this time interval helps to accurately separate and synchronize the electromagnetic signals sensed by multiple receiving coils in the subsequent process.

[0061] Step S120: Based on the electromagnetic signals emitted by each transmitting coil, acquire the electromagnetic induction data of multiple receiving coils in the magnetic receiver.

[0062] After each transmitting coil transmits electromagnetic signals in sequence according to the above transmission conditions, each receiving coil in the magnetic receiver will receive the electromagnetic signals synchronously, thereby obtaining the electromagnetic induction data of multiple receiving coils in the magnetic receiver.

[0063] Step S130: Based on the electromagnetic induction data of multiple receiving coils, a preset signal separation strategy is used to perform signal separation processing on the electromagnetic induction data of the multiple receiving coils to obtain separated electromagnetic induction data.

[0064] To achieve subsequent electromagnetic positioning, it is necessary to perform signal separation processing on the electromagnetic induction data of multiple receiving coils. Here, a certain signal separation strategy is adopted, which is related to the preset transmission conditions adopted in the aforementioned steps. Due to the adoption of the preset transmission conditions in the aforementioned steps, the signal separation stage can accurately separate the signals based on the time interval between the signals, thereby improving the accuracy of signal separation and also improving the accuracy of subsequent calculation of three-dimensional spatial positioning information.

[0065] The electromagnetic signal processing method in this application controls the transmission interval of multiple transmitting coils, enabling the electromagnetic induction data received by multiple receiving coils to be accurately separated, avoiding mutual interference between electromagnetic signals in adjacent frames, and improving the accuracy of subsequent positioning based on electromagnetic induction data.

[0066] In some embodiments of this application, controlling the transmission of electromagnetic signals by each transmitting coil in the magnetic transmitter according to preset transmission conditions includes: determining a preset magnetic blanking signal; and controlling the interval between the transmission of electromagnetic signals by each transmitting coil by inserting the preset magnetic blanking signal during the process of controlling the transmission of electromagnetic signals by each transmitting coil in the magnetic transmitter.

[0067] In this embodiment, when controlling the transmission coils in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions, a preset magnetic blanking signal needs to be determined first. Traditional "blanking signals" are mainly used in television signal processing. In television signal transmission, blanking signals exist to maintain data synchronization during horizontal and vertical blanking in television signal scanning. Based on this, this embodiment applies the blanking signal to electromagnetic signal processing. Essentially, it can be considered an electromagnetic signal with zero magnetic field strength. Thus, the receiving coil induces zero electromotive force, thereby creating a certain time interval between adjacent electromagnetic signals received by the receiving coil, facilitating signal separation.

[0068] When defining a preset magnetic blanking signal, it is necessary to set the intensity of the alternating magnetic field it generates, for example, by setting the magnetic field intensity to zero. It is also necessary to set the duration of this magnetic field intensity; the duration should not be too short or too long. Too short a duration will not achieve accurate signal separation, while too long a duration will prolong the overall signal transmission cycle and reduce signal processing efficiency. Of course, those skilled in the art can flexibly adjust the magnetic field intensity and duration of the magnetic blanking signal according to the actual needs of the scenario, and no specific limitations are made here.

[0069] During the process of controlling the electromagnetic signals emitted by each transmitting coil, the aforementioned preset magnetic blanking signal can be inserted to control the interval between the electromagnetic signals emitted by each transmitting coil. The specific insertion position mainly depends on the number of transmitting coils and the type of signal separation.

[0070] It should be noted that the "insertion" here can also be understood as the transmission of electromagnetic signals, except that the transmitted signal is a signal with a predefined magnetic field strength that can be clearly distinguished from the electromagnetic signals normally transmitted by the transmitting coil. That is, during the normal transmission process of the transmitting coil, the magnetic blanking signal defined in this application embodiment will be transmitted intermittently. Therefore, the "controlling the interval of electromagnetic signal transmission of each transmitting coil" here essentially controls the original interval of electromagnetic signal transmission of each transmitting coil, that is, the transmission interval before the magnetic blanking signal is inserted. If it is a traditional sequential, alternating, and continuous transmission method, the original transmission interval can be regarded as 0.

[0071] In some embodiments of this application, the preset magnetic blanking signal includes an inter-frame magnetic blanking signal. The process of controlling the interval between each transmitting coil's electromagnetic signal transmission by inserting the preset magnetic blanking signal during the control of each transmitting coil's electromagnetic signal transmission includes: controlling the inter-frame transmission interval of multiple transmitting coils by inserting the inter-frame magnetic blanking signal during the control of each transmitting coil's electromagnetic signal transmission; wherein, the inter-frame transmission interval refers to the time interval between two adjacent frames of electromagnetic induction data, and one frame of electromagnetic induction data is generated after each transmitting coil sequentially transmits an electromagnetic signal once.

[0072] The magnetic blanking signal defined in this application embodiment can include an inter-frame magnetic blanking signal, including the magnetic field strength and duration of the inter-frame magnetic blanking signal. The main function of the inter-frame magnetic blanking signal is to control the transmission interval between two adjacent transmission cycles. Here, "transmission cycle" can be understood as the period after multiple transmitting coils transmit an electromagnetic signal in sequence, which is considered as one transmission cycle. Subsequently, the electromagnetic induction data of two adjacent frames induced by a magnetic receiving coil can be separated based on the inter-frame magnetic blanking signal. "One frame of electromagnetic induction data" can be understood as the electromagnetic induction data induced by each magnetic receiving coil after each transmitting coil in the magnetic transmitter transmits an electromagnetic signal in sequence. For example, taking a three-axis orthogonal magnetic transmitter and a three-axis orthogonal magnetic receiver as an example, after the transmitting coils of the X, Y, and Z axes in the magnetic transmitter transmit electromagnetic signals in sequence, the electromagnetic induction data induced by the x, y, and z axes in the magnetic receiver is one frame of electromagnetic induction data.

[0073] In traditional electromagnetic positioning schemes, multiple transmitting coils in the magnetic transmitter emit sequentially, continuously, and cyclically. This can lead to the inability to accurately separate adjacent frames of electromagnetic induction data sensed by the magnetic receiver. In other words, electromagnetic induction data from other frames may be mixed in during separation, resulting in errors in subsequent three-dimensional spatial pose calculations.

[0074] Based on this, the embodiments of this application define an inter-frame magnetic blanking signal, including the magnetic field strength and duration of the inter-frame magnetic blanking signal, and insert the above-mentioned inter-frame magnetic blanking signal during the process of controlling the electromagnetic signal transmission of each transmitting coil in the magnetic transmitter, thereby indirectly controlling the inter-frame transmission interval of multiple transmitting coils.

[0075] In some embodiments of this application, the process of controlling the inter-frame transmission interval of multiple transmission coils by inserting the inter-frame magnetic blanking signal during the transmission of electromagnetic signals by each transmission coil in the magnetic transmitter includes: controlling each transmission coil to transmit an electromagnetic signal sequentially once based on a preset transmission order and preset transmission time of each transmission coil; inserting the inter-frame magnetic blanking signal after each transmission coil has transmitted an electromagnetic signal sequentially once; and controlling each transmission coil to transmit the next electromagnetic signal sequentially based on a preset transmission order and preset transmission time of each transmission coil after inserting the inter-frame magnetic blanking signal.

[0076] When controlling the inter-frame transmission interval of multiple transmitting coils, a preset magnetic blanking signal can be inserted after all the transmitting coils have transmitted an electromagnetic signal in the normal transmission sequence and time. After the preset magnetic blanking signal is inserted, the multiple magnetic receiving coils of the corresponding geomagnetic receiver will respectively sense the electromagnetic induction data corresponding to the inter-frame magnetic blanking signal, which can be clearly distinguished from the electromagnetic induction data sensed by the transmitting coil when it normally transmits electromagnetic induction signals, thereby realizing the separation and synchronization of multiple frames of electromagnetic signals.

[0077] In some embodiments of this application, the preset magnetic blanking signal includes an inter-axis magnetic blanking signal. The process of controlling the electromagnetic signal transmission interval of each transmitting coil in the magnetic transmitter by inserting the preset magnetic blanking signal includes: controlling the inter-axis transmission interval between multiple transmitting coils by inserting the inter-axis magnetic blanking signal during the process of controlling the electromagnetic signal transmission of each transmitting coil in the magnetic transmitter; wherein, the inter-axis transmission interval refers to the time interval between two adjacent transmitting coils during the process of multiple transmitting coils transmitting a signal sequentially once.

[0078] The magnetic blanking signal defined in this application embodiment may also include an inter-axis magnetic blanking signal, including the magnetic field strength and duration of the inter-axis magnetic blanking signal. The main function of the inter-axis blanking signal is to control the transmission interval between multiple transmitting coils in each transmission cycle, so that the electromagnetic induction data of two adjacent axes received by each receiving coil can be separated based on the inter-axis blanking signal.

[0079] For example, in a transmitter and receiver composed of three orthogonal coils, the central axes of the three transmitting coils are defined as X, Y, and Z, and the central axes of the three receiving coils are defined as x, y, and z. Therefore, based on these three orthogonal receiving coils, a total of 9 signals (transmit-receive) can be separated: Xx, Xy, Xz, Yx, Yy, Yz, Zx, Zy, and Zz. The accurate separation can be based on the aforementioned inter-axis blanking signals.

[0080] In some embodiments of this application, the process of controlling the inter-axial transmission interval between multiple transmission coils by inserting the inter-axial magnetic blanking signal during the transmission of electromagnetic signals by each transmission coil in the magnetic transmitter includes: controlling the first transmission coil to transmit an electromagnetic signal once based on the preset transmission sequence and preset transmission time of each transmission coil; inserting the inter-axial magnetic blanking signal after the first transmission coil transmits an electromagnetic signal once; and controlling the next transmission coil to transmit an electromagnetic signal once based on the preset transmission sequence and preset transmission time of each transmission coil after inserting the inter-axial magnetic blanking signal.

[0081] When specifically controlling the inter-axis transmission interval between multiple transmitting coils, based on the original transmission sequence and transmission time of each transmitting coil, the first transmitting coil is first controlled to transmit an electromagnetic signal for a preset transmission time. After the first transmitting coil completes its transmission, an inter-axis magnetic blanking signal is inserted. After the inter-axis magnetic blanking signal is inserted, the multiple magnetic receiving coils of the corresponding magnetic receiver will respectively sense the electromagnetic induction data corresponding to the inter-axis magnetic blanking signal, which can be clearly distinguished from the electromagnetic induction data sensed by the transmitting coil when it normally transmits electromagnetic induction signals, thereby achieving the separation of electromagnetic signals between two adjacent axes.

[0082] For ease of understanding of the foregoing embodiments, as follows Figure 4 The diagram illustrates the waveform of a transmitting coil after inserting a preset magnetic blanking signal, according to an embodiment of this application. Taking a three-axis orthogonal magnetic transmitter and receiver as an example, assuming the transmitting coils of the three axes in the magnetic transmitter transmit in the order of X, Y, and Z, with a transmission time of 8ms each, first, the X-axis transmitting coil transmits an 8ms electromagnetic signal, then a 2ms inter-axis magnetic blanking signal is inserted. Next, the Y-axis transmitting coil transmits an 8ms electromagnetic signal, then another 2ms inter-axis magnetic blanking signal is inserted, and then the Z-axis transmitting coil transmits an 8ms electromagnetic signal. At this point, the X, Y, and Z-axis transmitting coils in the magnetic transmitter have each transmitted an electromagnetic signal once in sequence. Therefore, a 12ms inter-frame magnetic blanking signal needs to be inserted, and the above process is repeated. After the insertion of the preset magnetic blanking signal, the duration of a complete frame of data is 40ms.

[0083] In this way, based on the inserted inter-axis magnetic blanking signal and inter-frame magnetic blanking signal, multiple frames of electromagnetic induction data and the data of each axis in each frame of electromagnetic induction data can be separated from the electromagnetic induction data sensed by the x, y, and z axes in the magnetic receiver.

[0084] Of course, it should be noted that the duration of inter-axis magnetic blanking signals and inter-frame magnetic blanking signals can be flexibly defined according to actual needs. However, since inter-frame data is more prone to sequence errors, the duration of inter-frame magnetic blanking signals is relatively longer. In addition, the duration of inter-axis magnetic blanking signals can be set independently of the original transmission time of each axis, or it can be achieved by appropriately reducing the original transmission time of each axis. For example, if the original transmission time is 10ms, it can be reduced to 8ms, with the remaining 2ms used to transmit the inter-axis magnetic blanking signal.

[0085] In some embodiments of this application, the step of performing signal separation processing on the electromagnetic induction data of the multiple receiving coils using a preset signal separation strategy to obtain separated electromagnetic induction data includes: determining whether a preset zero field strength signal exists in the electromagnetic induction data; if the preset zero field strength signal exists in the electromagnetic induction data, determining the duration of the preset zero field strength signal; and performing signal separation processing on the electromagnetic induction data of the multiple receiving coils based on the duration of the preset zero field strength signal and the transmission time of the preset magnetic blanking signal to obtain separated electromagnetic induction data.

[0086] In this embodiment of the application, when performing signal separation processing on the electromagnetic induction data of multiple receiving coils, the electromagnetic induction data can be identified and analyzed first to determine whether a preset zero field strength signal exists in the electromagnetic induction data. Here, the "preset zero field strength signal" is a concept corresponding to the "preset magnetic blanking signal" in the aforementioned embodiment. The preset magnetic blanking signal is for the transmitting coil and is the signal emitted by the transmitting coil. The preset zero field strength signal is for the receiving coil and is the signal induced by the receiving coil based on the preset magnetic blanking signal emitted by the transmitting coil.

[0087] Considering that electromagnetic noise of a specific frequency in space cannot be filtered out in actual application scenarios, the "preset zero field strength signal" is not a signal with an absolutely zero magnetic field strength. Therefore, the embodiments of this application can flexibly define zero field strength according to actual application scenarios, as long as it can be distinguished from the magnetic field strength normally received by the receiving coil. For example, it can be defined as: the sum of the squares of the magnetic field strengths received by the three axes x, y, and z at the same time is less than 3000 or the sum of the received magnetic field strengths is less than 100.

[0088] After identifying the presence of a preset zero field strength signal in the electromagnetic induction data received by the receiving coil, it is necessary to further determine the duration of the preset zero field strength signal. Since the durations of the inter-axis magnetic blanking signal and the inter-frame magnetic blanking signal are often different in the aforementioned embodiments, it is possible to determine whether the duration of the preset zero field strength signal meets the criteria for separation based on the durations of the inter-axis magnetic blanking signal and the inter-frame magnetic blanking signal.

[0089] In some embodiments of this application, the preset zero field strength signal includes a first preset zero field strength signal and a second preset zero field strength signal, and the preset magnetic blanking signal includes an inter-frame magnetic blanking signal and an inter-axis magnetic blanking signal. The step of performing signal separation processing on the electromagnetic induction data of the plurality of receiving coils based on the duration of the preset zero field strength signal and the transmission time of the preset magnetic blanking signal to obtain separated electromagnetic induction data includes: when the duration of the first preset zero field strength signal is consistent with the transmission time of the inter-frame magnetic blanking signal, performing inter-frame signal separation processing on the electromagnetic induction data of the plurality of receiving coils based on the first preset zero field strength signal to obtain multiple frames of electromagnetic induction data; when the duration of the second preset zero field strength signal is consistent with the transmission time of the inter-axis magnetic blanking signal, performing inter-axis signal separation processing on each frame of electromagnetic induction data to obtain the electromagnetic induction data of each axis in each frame of electromagnetic induction data.

[0090] Considering that the magnetic field strengths of inter-frame magnetic blanking signals and inter-axis magnetic blanking signals can be different, the preset zero field strength signal here can correspond to both a first preset zero field strength signal and a second preset zero field strength signal. During signal separation processing, if the duration of the first preset zero field strength signal is consistent with the transmission time of the inter-frame magnetic blanking signal (consistency can mean the same signal or a deviation less than a certain threshold), then the first preset zero field strength signal corresponds to the inter-frame magnetic blanking signal. Therefore, inter-frame data separation can be performed based on the first preset zero field strength signal to obtain multiple frames of electromagnetic induction data.

[0091] If the duration of the second preset zero field strength signal is the same as the transmission time of the inter-axis magnetic blanking signal or the deviation between the two is less than a certain threshold, it indicates that the second preset zero field strength signal corresponds to the inter-axis magnetic blanking signal. Therefore, the inter-axis data can be separated based on the second preset zero field strength signal to obtain the electromagnetic induction data of each axis in each frame of electromagnetic induction data.

[0092] In this embodiment, the insertion of inter-frame blanking signals enables accurate separation of inter-frame data, preventing the inclusion of data from other frames. Similarly, the insertion of inter-axis blanking signals ensures accurate separation of inter-axis data, preventing the inclusion of data from other axes. Consequently, the final separated electromagnetic induction data consists of independent data for each frame and axis, without the inclusion of data from other axes or frames, thus improving the accuracy of subsequent calculations of three-dimensional spatial pose.

[0093] For ease of understanding of the embodiments of this application, as follows: Figure 5 As shown, a schematic diagram of an ideal waveform induced by the receiving coil after inserting a preset magnetic blanking signal is provided in an embodiment of this application. Considering the presence of noise, as... Figure 6The diagram shown illustrates the actual waveform induced by the receiving coil after inserting a preset magnetic blanking signal, according to an embodiment of this application. Figure 6 The thick black line represents noise. It can be seen that after inserting the preset magnetic blanking signal, the electromagnetic induction data of adjacent frames and the electromagnetic induction data of each axis induced by the receiving coil can be accurately separated.

[0094] This application also provides an electromagnetic signal processing device 700, such as... Figure 7 The diagram shows a schematic representation of an electromagnetic signal processing device according to an embodiment of this application. The electromagnetic signal processing device 700 is applied to an electromagnetic positioning system and includes: a control unit 710, an acquisition unit 720, and a separation unit 730, wherein:

[0095] The control unit 710 is used to control each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions, the preset transmission conditions including the transmission interval of the transmitting coils;

[0096] The acquisition unit 720 is used to acquire electromagnetic induction data of multiple receiving coils in the magnetic receiver based on the electromagnetic signals emitted by each transmitting coil.

[0097] The separation unit 730 is used to perform signal separation processing on the electromagnetic induction data of the multiple receiving coils based on the electromagnetic induction data of the multiple receiving coils using a preset signal separation strategy, so as to obtain the separated electromagnetic induction data.

[0098] In some embodiments of this application, the control unit 710 is specifically used to: determine a preset magnetic blanking signal; and, during the process of controlling each transmitting coil in the magnetic transmitter to transmit electromagnetic signals, control the interval between the transmission of electromagnetic signals by each transmitting coil by inserting the preset magnetic blanking signal.

[0099] In some embodiments of this application, the preset magnetic blanking signal includes an inter-frame magnetic blanking signal, and the control unit 710 is specifically used to: control the inter-frame transmission interval of multiple transmission coils by inserting the inter-frame magnetic blanking signal during the process of controlling each transmission coil in the magnetic transmitter to transmit electromagnetic signals; wherein, the inter-frame transmission interval refers to the time interval between two adjacent frames of electromagnetic induction data, and one frame of electromagnetic induction data is generated after each transmission coil transmits an electromagnetic signal once in sequence.

[0100] In some embodiments of this application, the control unit 710 is specifically used to: control each transmitting coil to transmit an electromagnetic signal sequentially once based on a preset transmission sequence and a preset transmission time of each transmitting coil; insert the inter-frame magnetic blanking signal after each transmitting coil has transmitted an electromagnetic signal sequentially; and after inserting the inter-frame magnetic blanking signal, control each transmitting coil to transmit the next electromagnetic signal sequentially based on a preset transmission sequence and a preset transmission time of each transmitting coil.

[0101] In some embodiments of this application, the preset magnetic blanking signal includes an inter-axis magnetic blanking signal, and the control unit 710 is specifically used to: control the inter-axis transmission interval between multiple transmission coils by inserting the inter-axis magnetic blanking signal during the process of controlling each transmission coil in the magnetic transmitter to transmit electromagnetic signals; wherein, the inter-axis transmission interval refers to the time interval between two adjacent transmission coils during the process of multiple transmission coils transmitting a signal in sequence.

[0102] In some embodiments of this application, the control unit 710 is specifically used to: control the first transmitting coil to transmit an electromagnetic signal once based on the preset transmission sequence and preset transmission time of each transmitting coil; after the first transmitting coil transmits an electromagnetic signal once, insert the inter-axis magnetic blanking signal; after inserting the inter-axis magnetic blanking signal, control the next transmitting coil to transmit an electromagnetic signal once based on the preset transmission sequence and preset transmission time of each transmitting coil.

[0103] In some embodiments of this application, the separation unit 730 is specifically used to: determine whether a preset zero field strength signal exists in the electromagnetic induction data; if a preset zero field strength signal exists in the electromagnetic induction data, determine the duration of the preset zero field strength signal; and perform signal separation processing on the electromagnetic induction data of the plurality of receiving coils according to the duration of the preset zero field strength signal and the transmission time of the preset magnetic blanking signal to obtain separated electromagnetic induction data.

[0104] In some embodiments of this application, the preset zero field strength signal includes a first preset zero field strength signal and a second preset zero field strength signal, and the preset magnetic blanking signal includes an inter-frame magnetic blanking signal and an inter-axis magnetic blanking signal. The separation unit 730 is specifically used to: when the duration of the first preset zero field strength signal is consistent with the transmission time of the inter-frame magnetic blanking signal, perform inter-frame signal separation processing on the electromagnetic induction data of the plurality of receiving coils based on the first preset zero field strength signal to obtain multiple frames of electromagnetic induction data; when the duration of the second preset zero field strength signal is consistent with the transmission time of the inter-axis magnetic blanking signal, perform inter-axis signal separation processing on each frame of electromagnetic induction data to obtain the electromagnetic induction data of each axis in each frame of electromagnetic induction data.

[0105] It is understood that the above-described electromagnetic signal processing device can implement each step of the electromagnetic signal processing method provided in the foregoing embodiments. The relevant explanations of the electromagnetic signal processing method are applicable to the electromagnetic signal processing device and will not be repeated here.

[0106] Figure 8 This is a schematic diagram of the structure of an electromagnetic positioning system according to an embodiment of this application. Please refer to it. Figure 8 At the hardware level, the electromagnetic positioning system includes a magnetic transmitter composed of multiple transmitting coils and a magnetic receiver composed of multiple receiving coils. It also includes a processor, and optionally an internal bus, network interface, and memory. The memory may include RAM, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electromagnetic positioning system may also include other hardware required for its operation.

[0107] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0108] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0109] The processor reads the corresponding computer program from non-volatile memory into main memory and then executes it, forming an electromagnetic signal processing device at the logical level. The processor executes the program stored in memory and specifically performs the following operations:

[0110] The electromagnetic transmitter controls each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions, including the transmission interval of the transmitting coils;

[0111] Based on the electromagnetic signals emitted by each transmitting coil, electromagnetic induction data of multiple receiving coils in the magnetic receiver are obtained;

[0112] Based on the electromagnetic induction data of multiple receiving coils, a preset signal separation strategy is used to perform signal separation processing on the electromagnetic induction data of the multiple receiving coils to obtain separated electromagnetic induction data.

[0113] The above is as stated in this application. Figure 1 The method executed by the electromagnetic signal processing device disclosed in the illustrated embodiments can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. 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. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0114] The electromagnetic positioning system can also perform Figure 1 The method executed by the electromagnetic signal processing device, and the implementation of the electromagnetic signal processing device in... Figure 1 The functions of the embodiments shown are not described in detail here.

[0115] This application also proposes a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by an electromagnetic positioning system comprising multiple applications, enable the electromagnetic positioning system to perform... Figure 1 The method executed by the electromagnetic signal processing device in the illustrated embodiment is specifically used to perform:

[0116] The electromagnetic transmitter controls each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions, including the transmission interval of the transmitting coils;

[0117] Based on the electromagnetic signals emitted by each transmitting coil, electromagnetic induction data of multiple receiving coils in the magnetic receiver are obtained;

[0118] Based on the electromagnetic induction data of multiple receiving coils, a preset signal separation strategy is used to perform signal separation processing on the electromagnetic induction data of the multiple receiving coils to obtain separated electromagnetic induction data.

[0119] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0120] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0121] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0122] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0123] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0124] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0125] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0126] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0127] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An electromagnetic signal processing method, characterized in that, The electromagnetic signal processing method is executed by an electromagnetic positioning system, which includes a magnetic transmitter composed of multiple transmitting coils and a magnetic receiver composed of multiple receiving coils. The electromagnetic signal processing method includes: The electromagnetic transmitter controls each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions, including the transmission interval of the transmitting coils; Based on the electromagnetic signals emitted by each transmitting coil, electromagnetic induction data of multiple receiving coils in the magnetic receiver are obtained; Based on the electromagnetic induction data of multiple receiving coils, a preset signal separation strategy is used to perform signal separation processing on the electromagnetic induction data of the multiple receiving coils to obtain the separated electromagnetic induction data. The step of controlling each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions includes: Determine the preset magnetic blanking signal; During the process of controlling the electromagnetic signals emitted by each transmitting coil in the magnetic transmitter, the interval between the electromagnetic signals emitted by each transmitting coil is controlled by inserting the preset magnetic blanking signal; The preset magnetic blanking signal is an electromagnetic signal with a magnetic field strength of zero. Determining the preset magnetic blanking signal includes: Determine the strength of the alternating magnetic field generated by the magnetic blanking signal and the duration of the magnetic field strength; The preset signal separation strategy is related to the preset transmission conditions.

2. The electromagnetic signal processing method according to claim 1, characterized in that, The preset magnetic blanking signal includes an inter-frame magnetic blanking signal. The interval at which the electromagnetic signals are controlled to be emitted by each transmitting coil in the magnetic transmitter by inserting the preset magnetic blanking signal includes: During the process of controlling the transmission of electromagnetic signals by each transmitting coil in the magnetic transmitter, the inter-frame transmission interval of multiple transmitting coils is controlled by inserting the inter-frame magnetic blanking signal. The inter-frame transmission interval refers to the time interval between two adjacent frames of electromagnetic induction data. A frame of electromagnetic induction data is generated after each transmitting coil transmits an electromagnetic signal once in sequence.

3. The electromagnetic signal processing method according to claim 2, characterized in that, The process of controlling the inter-frame transmission interval of multiple transmission coils by inserting the inter-frame magnetic blanking signal during the transmission of electromagnetic signals by each transmission coil in the controlled magnetic transmitter includes: Based on the preset transmission sequence and preset transmission time of each transmitting coil, control each transmitting coil to transmit an electromagnetic signal once in sequence; After each transmitting coil transmits an electromagnetic signal once in sequence, the inter-frame magnetic blanking signal is inserted. After inserting the inter-frame magnetic blanking signal, based on the preset transmission sequence and preset transmission time of each transmitting coil, each transmitting coil is controlled to transmit the next electromagnetic signal in sequence.

4. The electromagnetic signal processing method according to claim 1, characterized in that, The preset magnetic blanking signal includes an inter-axis magnetic blanking signal. The interval at which the electromagnetic signals are controlled to be emitted by each transmitting coil in the magnetic transmitter by inserting the preset magnetic blanking signal includes: During the process of controlling the electromagnetic signals emitted by each transmitting coil in the magnetic transmitter, the inter-axis transmission interval between multiple transmitting coils is controlled by inserting the inter-axis magnetic blanking signal. The inter-axis transmission interval refers to the time interval between two adjacent transmission coils during the process of multiple transmission coils transmitting a signal in sequence.

5. The electromagnetic signal processing method according to claim 4, characterized in that, During the process of controlling the electromagnetic signal transmission of each transmitting coil in the controlled magnetic transmitter, controlling the inter-axis transmission interval between multiple transmitting coils by inserting the inter-axis magnetic blanking signal includes: Based on the preset transmission sequence and preset transmission time of each transmitting coil, the first transmitting coil is controlled to transmit an electromagnetic signal once; After the first transmitting coil transmits an electromagnetic signal once, the inter-axis magnetic blanking signal is inserted; After inserting the interaxial magnetic blanking signal, the next transmitting coil is controlled to transmit an electromagnetic signal once based on the preset transmission sequence and preset transmission time of each transmitting coil.

6. The electromagnetic signal processing method according to claim 1, characterized in that, The step involves performing signal separation processing on the electromagnetic induction data of multiple receiving coils using a preset signal separation strategy, resulting in separated electromagnetic induction data including: Determine whether a preset zero field strength signal exists in the electromagnetic induction data; If a preset zero field strength signal exists in the electromagnetic induction data, determine the duration of the preset zero field strength signal; The electromagnetic induction data of the multiple receiving coils are processed by signal separation based on the duration of the preset zero field strength signal and the transmission time of the preset magnetic blanking signal to obtain the separated electromagnetic induction data.

7. The electromagnetic signal processing method according to claim 6, characterized in that, The preset zero field strength signal includes a first preset zero field strength signal and a second preset zero field strength signal. The preset magnetic blanking signal includes an inter-frame magnetic blanking signal and an inter-axis magnetic blanking signal. The electromagnetic induction data of the multiple receiving coils is separated according to the duration of the preset zero field strength signal and the transmission time of the preset magnetic blanking signal to obtain the separated electromagnetic induction data, which includes: When the duration of the first preset zero field strength signal is consistent with the transmission time of the inter-frame magnetic blanking signal, the electromagnetic induction data of the multiple receiving coils are subjected to inter-frame signal separation processing based on the first preset zero field strength signal to obtain multiple frames of electromagnetic induction data. When the duration of the second preset zero field strength signal is consistent with the transmission time of the inter-axis magnetic blanking signal, inter-axis signal separation processing is performed on each frame of electromagnetic induction data to obtain the electromagnetic induction data of each axis in each frame of electromagnetic induction data.

8. An electromagnetic signal processing device, characterized in that, The electromagnetic signal processing device is used in an electromagnetic positioning system, and the electromagnetic signal processing device includes: The control unit is used to control each transmitting coil in the magnetic transmitter to transmit electromagnetic signals according to preset transmission conditions, the preset transmission conditions including the transmission interval of the transmitting coils; The acquisition unit is used to acquire electromagnetic induction data of multiple receiving coils in the magnetic receiver based on the electromagnetic signals emitted by each transmitting coil. The separation unit is used to perform signal separation processing on the electromagnetic induction data of the multiple receiving coils based on the electromagnetic induction data of the multiple receiving coils using a preset signal separation strategy, so as to obtain the separated electromagnetic induction data. The control unit is specifically used for: Determine the preset magnetic blanking signal; During the process of controlling the electromagnetic signals emitted by each transmitting coil in the magnetic transmitter, the interval between the electromagnetic signals emitted by each transmitting coil is controlled by inserting the preset magnetic blanking signal; The preset magnetic blanking signal is an electromagnetic signal with a magnetic field strength of zero. The control unit is specifically used for: Determine the strength of the alternating magnetic field generated by the magnetic blanking signal and the duration of the magnetic field strength; The preset signal separation strategy is related to the preset transmission conditions.

9. An electromagnetic positioning system, characterized in that, include: A magnetic transmitter consisting of multiple transmitting coils and a magnetic receiver consisting of multiple receiving coils; processor; as well as A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform any of the electromagnetic signal processing methods of claims 1 to 7.

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