Disturbance source position positioning system and method based on electromagnetic disturbance positioning

Abstract

The invention discloses a disturbance source position positioning system and method based on electromagnetic disturbance positioning. The system comprises an electromagnetic signal transmitting and receiving module and a main control unit module. The electromagnetic signal transmitting and receiving module is composed of a signal generator and a sensor, the signal generator transmits a radio frequency quasi-static magnetic field signal, and the sensor is used for inducing a magnetic field and generating corresponding induced voltage. The main control unit module comprises a system electronic unit and a computer and is responsible for signal processing and positioning calculation. The system electronic unit processes the sensing signals in real time, calculates the target position and attitude, and communicates with a computer to configure system parameters and ensure high-precision data acquisition. The system realizes accurate positioning of ferromagnetic materials and metal targets by analyzing signal changes caused by electromagnetic disturbance, is suitable for the fields of smart home, security monitoring, smart medical treatment and the like, has relatively low installation cost and strong applicability, and shows remarkable popularization potential.

Description

Technical Field

[0001] The invention belongs to the field of indoor positioning technology and electromagnetic induction technology, and relates to a disturbance source position positioning system and method based on electromagnetic disturbance positioning. Background Art

[0002] With the continuous progress of modern society, the application of indoor positioning technology in various fields has become more extensive and important. In modern cities, a large number of people's activities are carried out indoors, making the demand for indoor positioning increasingly strong, mainly reflected in two aspects. The first is the improvement of people's life experience. For example, in scenes such as shopping malls, hospitals and warehouses, high-precision positioning technology can allow people to experience more comfortable navigation and positioning services and improve efficiency. The second is people's safety protection. For example, in scenes such as navigation and positioning of workers in mines, mature indoor positioning technology can be used to improve the efficiency of social security work. All these needs rely on high-precision indoor positioning technology. Accurate indoor positioning as a means of ensuring personal safety and improving people's life experience has broad demand and prospects.

[0003] However, the existing indoor positioning technology still has many shortcomings in complex environments. Although traditional positioning methods such as Wi-Fi, Bluetooth, and ultra-wideband can provide relatively stable positioning services under certain conditions, positioning accuracy is often difficult to guarantee in environments with strong multipath effects, a large number of metal structures, or interference. In addition, these technologies also face problems such as poor privacy protection, susceptibility to interference, and strong device dependence, and cannot meet the growing demand for precise positioning. Therefore, there is an urgent need for a new positioning method that can provide high-precision, stable, and privacy-friendly positioning services in complex indoor environments to address the limitations of current positioning technologies and meet the needs of future development. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the purpose of the present invention is to design a disturbance source location positioning system and method based on electromagnetic disturbance positioning, which can utilize the transmission and reception of electromagnetic signals to solve the technical problems of indoor passive electromagnetic positioning.

[0005] The technical solution of the present invention is as follows:

[0006] A disturbance source location positioning system based on electromagnetic disturbance positioning comprises an electromagnetic signal transmitting module, an electromagnetic signal receiving module and a main control unit module; the electromagnetic signal transmitting module comprises a signal generator for transmitting a quasi-static magnetic field signal; the electromagnetic signal receiving module comprises a plurality of sensors for sensing the magnetic field and generating an induced voltage; the main control unit module comprises a system electronic unit and a computer for processing the induced signal in real time and calculating the position and posture of the disturbance source.

[0007] Furthermore, the signal generator is composed of a plurality of mutually orthogonal coils, each coil generates a magnetic field along a different axis, and all magnetic fields are combined to form a three-dimensional magnetic field environment covering the entire area to be measured.

[0008] Furthermore, the sensor is composed of a plurality of highly sensitive electromagnetic induction coils, which can sense small changes in the magnetic field with high sensitivity and generate an induced voltage feedback signal. The generated voltage feedback signal will be transmitted to the main control unit in real time for subsequent positioning calculation.

[0009] Furthermore, the system electronic unit includes the software and hardware required to generate and sense magnetic fields, calculate position and direction, connect to the host through RS-232 or USB interface, control data communication between the signal generator and the sensor, and transmit the induced voltage signal from the sensor to the computer for processing. The system parameters are configured through the communication interface with the computer to ensure high-precision data collection and processing. The system electronic unit can dynamically adjust the output parameters of the signal generator and the sensitivity of the sensor to ensure that the entire system maintains high-precision data collection and processing capabilities under different working conditions. This configuration allows the system to respond quickly to environmental changes and improves the accuracy and reliability of positioning.

[0010] Furthermore, the computer starts or adjusts the working state of the positioning system by sending an operation command. Specifically, the computer sends an operation command to start or adjust the working state of the positioning system through a dedicated software interface, and issues a calibration setting command to ensure the positioning accuracy of the positioning system in different environments. In addition, the computer can receive and display the positioning results in real time, and provide a user-friendly interface to monitor and analyze the position and posture of the interference source, so as to facilitate the user to perform further operations and decisions.

[0011] A disturbance source location positioning method based on electromagnetic disturbance positioning is implemented using the above-mentioned disturbance source location positioning system based on electromagnetic disturbance positioning, comprising the following steps:

[0012] S1: The signal generator generates a high-frequency quasi-static magnetic field signal to form a three-dimensional magnetic field environment covering the area to be tested;

[0013] S2: Induce magnetic field changes through sensors and generate corresponding induced voltage;

[0014] S3: The system electronic unit receives the induced voltage signal from the sensor and transmits it to the computer for processing. The computer compares and analyzes the received data to generate a comparison analysis data set and a basic data set; the comparison analysis data set is a data set without a disturbance source in the test environment, and the basic data set is a data set with a disturbance source in the test environment;

[0015] S4: Divide the basic data set into a training data set and a validation data set, and use the training data set to match the control analysis data set to generate a positioning fitting formula; use the validation data set to feedback verify the positioning fitting formula, and adjust and optimize the positioning fitting formula through multiple iterations to finally obtain a passive target positioning algorithm to achieve disturbance source location positioning and tracking.

[0016] Furthermore, the sensor generates a corresponding induced voltage by capturing the change in the magnetic field during the movement of the disturbance source. The system electronic unit digitizes the induced voltage signal generated by the sensor and transmits it to the computer for processing.

[0017] Furthermore, the computer receives the detection data from the system electronic unit, and divides the detection data into a comparison analysis data set and a basic data set according to whether a disturbance source exists.

[0018] Furthermore, the coupling relationship between the signal generator coil parameters and the sensor induced voltage v(t) is:

[0019]

[0020] in,

[0021] Where μ0 is the magnetic permeability in vacuum (μ0 = 4π×10 -7 N / A 2 ), μ r is the relative magnetic permeability of the magnetic core, A is the cross-sectional area of ​​the circular induction coil, N is the number of coil turns, B0 is the amplitude of the magnetic field magnetic induction intensity, and ω is the angular frequency of the spatial magnetic field, which is the same as the angular frequency of the sinusoidal AC signal. It can be seen that when the parameters of the transmitting coil are determined, the induced voltage in the induction coil is determined by its own posture parameters. is the unit vector of the spatial magnetic field direction, and the position parameters are contained in middle, is the unit vector in the direction of the central axis of the induction coil, and the attitude parameters are contained in Therefore, the position information of the induction coil can be solved by measuring the induced voltage in the induction coil.

[0022] Furthermore, the specific method of generating the positioning fitting formula is:

[0023] Using the data fitting algorithm, the disturbance source position data and the change of induced voltage in the training data set are matched with the data of the control analysis data set to generate a positioning fitting formula. This formula reflects the relationship between the position of the disturbance source in three-dimensional space and the change of the sensor induced voltage. Then, the fitting results of the preliminary positioning fitting formula are feedback verified through the verification data set; that is, by comparing the difference between the fitting results and the actual disturbance source position, the model parameters are continuously adjusted using error regression analysis and iterative optimization algorithms to optimize the positioning fitting formula. After the feedback verification meets the expected accuracy requirements, the computer will generate the final passive target positioning algorithm based on the corrected positioning results and the optimized positioning fitting formula. This passive target positioning algorithm will be integrated into the system for real-time target positioning and tracking, and is suitable for positioning needs in a variety of complex environments.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention provides a passive positioning method based on electromagnetic disturbance, which realizes contactless detection of the target, reduces interference to the target, and improves monitoring flexibility and safety.

[0026] 2. The present invention does not require the target to carry additional positioning devices, reduces the hardware complexity and energy consumption of the system, and provides a simpler, more economical and efficient positioning solution.

[0027] 3. The present invention can monitor and locate the position of the measured target in real time, provide continuous data updates, help to obtain key location information in a timely manner, and is suitable for application scenarios that require high-frequency positioning updates.

[0028] 4. The present invention can work stably in complex indoor environments and is not easily affected by external signal interference. It is suitable for environments with significant multipath effects and complex metal structures to achieve high-precision target positioning.

[0029] 5. The present invention has strong adaptability and can adjust system parameters according to different needs to achieve wide coverage of application scenarios.

[0030] 6. The system of the present invention is easy to install, has low maintenance cost, and has good practicality and promotion potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of a disturbance source position positioning system based on electromagnetic disturbance positioning in an embodiment of the present invention.

[0032] Figure 2 Schematic diagram of the hardware architecture of a disturbance source position positioning test solution based on electromagnetic disturbance positioning in an embodiment of the present invention.

[0033] Figure 3It is a flow chart of a disturbance source location method based on electromagnetic disturbance location in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings and specific examples. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Example

[0036] like Figure 1As shown, a structural schematic diagram of a positioning system for the position of a disturbance source based on electromagnetic disturbance positioning, the positioning system includes an electromagnetic signal generating module 1 and an electromagnetic signal receiving module 2, wherein the electromagnetic signal transmitting module 1 includes a signal generator 4 for transmitting a quasi-static magnetic field signal between 1KHZ-1GHz, the signal generator has a plurality of mutually orthogonal coils 5 built in, each coil generates a magnetic field along a different axis, all magnetic fields are combined to form a three-dimensional magnetic field environment covering the entire area to be measured, and the signal generator is connected to the system electronic unit through a DB-15 connector. The electromagnetic signal receiving module 2 includes three sensors 6 for sensing the magnetic field and generating an induced voltage, which are connected to the system electronic unit through a DB-9 connector. The sensor is composed of a plurality of highly sensitive electromagnetic induction coils, which can sense small changes in the magnetic field with high sensitivity and generate an induced voltage feedback signal. The generated voltage feedback signal will be transmitted to the main control unit in real time for subsequent positioning calculations. The main control unit module 3 includes a system electronic unit 7 and a computer 8, which are used to process the induced signal in real time and calculate the position and posture of the disturbance source, and the computer is connected to the system electronic unit through an RS-232 interface. The system electronic unit is the core control device of the positioning system, which contains the software and hardware required to generate and sense magnetic fields, calculate position and direction, and connect to the host through RS-232 or USB interface. It is used to control the data communication between the signal generator and the sensor, and transmit the induced voltage signal from the sensor to the computer for processing. And configure the system parameters through the communication interface with the computer to ensure high-precision data acquisition and processing. The system electronic unit can dynamically adjust the output parameters of the signal generator and the sensitivity of the sensor to ensure that the entire system maintains high-precision data acquisition and processing capabilities under different working conditions. This configuration allows the system to respond quickly to environmental changes and improves the accuracy and reliability of positioning. The computer starts or adjusts the working state of the positioning system by sending an operation command. Specifically, the computer sends an operation command to start or adjust the working state of the positioning system through a dedicated software interface, and issues a calibration setting command to ensure the positioning accuracy of the positioning system under different environments. In addition, the computer can receive and display the positioning results in real time, provide a user-friendly interface to monitor and analyze the position and posture of the interference source, and facilitate the user to perform further operations and decisions.

[0037] In this example, the hardware architecture of the disturbance source location test solution based on electromagnetic disturbance location is as follows: Figure 2 As shown, the experimental area is 50 cm long, 50 cm wide and 20 cm high. The signal generator and three sensors are placed in the four corners of the rectangular area respectively, and the disturbance source metal spherical target is placed inside the signal generator and sensor area.

[0038] This embodiment is based on a passive target electromagnetic positioning method, and aims to achieve contactless detection of the presence of positioning targets in indoor environments by analyzing the effects of ferromagnetic materials and metal targets on the electromagnetic field. In traditional electromagnetic positioning research, the disturbance of the electromagnetic field by ferromagnetic materials and metal targets is usually regarded as a negative factor. The free electrons inside the conductive material generate currents under the action of the electromagnetic field. These currents will generate new electromagnetic fields, which interact with the original electromagnetic fields, resulting in reflection, absorption or scattering of electromagnetic waves, thereby changing the distribution of the electromagnetic field. In addition, due to the skin effect, electromagnetic waves decay rapidly on the surface of conductive materials, further limiting their propagation depth. Although these complex physical phenomena are traditionally regarded as disturbance factors, through precise modeling and analysis, this disturbance phenomenon can actually be used in reverse for positioning and detection.

[0039] In the present invention, the coupling relationship between the signal generator parameters and the sensor induced voltage v(t) can be calculated:

[0040]

[0041] in,

[0042] By measuring the induced voltage in the induction coil, the position information of the sensor coil can be accurately calculated. After introducing the metal spherical target, the positioning formula can be obtained through measurement and fitting, and then verified by the reverse positioning algorithm, thereby achieving high-precision positioning of passive targets. This method effectively improves the positioning accuracy of the system in complex environments and lays a solid theoretical foundation for the further application of high-precision electromagnetic positioning technology.

[0043] In this example, the flow chart of the disturbance source location positioning method based on electromagnetic disturbance positioning is as follows: Figure 3 As shown, the following steps are included:

[0044] S1: Input the operation instruction at the computer input terminal. The computer transmits the operation instruction to the electromagnetic signal transmitting module through the system electronic unit. The signal generator generates a quasi-static magnetic field signal between 1KHZ-1GHz to form a stable three-dimensional magnetic field environment covering the area to be tested.

[0045] S2: Induce magnetic field changes through sensors and generate corresponding induced voltage;

[0046] S3: The system electronic unit receives the induced voltage signal from the sensor and transmits it to the computer for processing. The computer compares and analyzes the received data to generate a comparison analysis data set and a basic data set; the comparison analysis data set is a data set without a disturbance source in the test environment, and the basic data set is a data set with a disturbance source in the test environment; specifically, the sensor generates a corresponding induced voltage by capturing the change in the magnetic field during the movement of the disturbance source, and the system electronic unit digitizes the induced voltage signal generated by the sensor and transmits it to the computer for processing. The computer receives the detection data from the system electronic unit, and divides the detection data into a comparison analysis data set and a basic data set according to whether there is a disturbance source.

[0047] S4: Divide the basic data set into a training data set and a verification data set, use the training data set to match the control analysis data set to generate a positioning fitting formula; use the verification data set to feedback and verify the positioning fitting formula, adjust and optimize the positioning fitting formula through multiple iterations, and finally obtain a passive target positioning algorithm. This passive target positioning algorithm will be integrated into the system for real-time disturbance source target positioning and tracking, and is suitable for positioning needs in a variety of complex environments.

[0048] Specifically, the coupling relationship between the signal generator coil parameters and the sensor induced voltage v(t) is:

[0049]

[0050] in,

[0051] Where μ0 is the magnetic permeability in vacuum (μ0 = 4π×10 -7 N / A 2 ), μ r is the relative magnetic permeability of the magnetic core, A is the cross-sectional area of ​​the circular induction coil, N is the number of coil turns, B0 is the amplitude of the magnetic field magnetic induction intensity, and ω is the angular frequency of the spatial magnetic field, which is the same as the angular frequency of the sinusoidal AC signal. It can be seen that when the parameters of the transmitting coil are determined, the induced voltage in the induction coil is determined by its own posture parameters. is the unit vector of the spatial magnetic field direction, and the position parameters are contained in middle, is the unit vector in the direction of the central axis of the induction coil, and the attitude parameters are contained in Therefore, the position information of the induction coil can be solved by measuring the induced voltage in the induction coil.

[0052] Furthermore, the specific method of generating the positioning fitting formula is:

[0053] The data fitting algorithm is used to match the disturbance source position data and the change of induced voltage in the training data set with the data of the control analysis data set to generate a positioning fitting formula. The formula reflects the relationship between the position of the disturbance source in three-dimensional space and the change of the sensor induced voltage. Then, the fitting result of the preliminary positioning fitting formula is feedback verified by the verification data set; that is, by comparing the difference between the fitting result and the actual disturbance source position, the model parameters are continuously adjusted by error regression analysis and iterative optimization algorithm to optimize the positioning fitting formula. After the feedback verification meets the expected accuracy requirements, the computer will generate the final passive target positioning algorithm based on the corrected positioning results and the optimized positioning fitting formula. The passive target positioning algorithm will be integrated into the system for real-time target positioning and tracking, and is suitable for positioning requirements in a variety of complex environments. Specifically, in this example, the training data set is first subtracted from the control analysis data set to obtain the positioning fitting formula, and then the test data set is subtracted from the control analysis data set. According to the subtraction result, some common algorithms (such as minimum square error, etc.) are used to index and traverse the closest coordinate value in the positioning fitting formula, so as to feedback verify the positioning fitting formula.

[0054] This paper proposes an innovative passive target electromagnetic positioning method, which explores a new way to achieve contactless detection of positioning targets in complex indoor environments by accurately modeling and analyzing the disturbance phenomenon of the electromagnetic field caused by conductive materials. This method improves the positioning accuracy by utilizing the electromagnetic effect that is traditionally regarded as a disturbance, and stably detects the presence of the positioning target without relying on light and temperature.

[0055] The embodiments described above provide a detailed description of the technical solutions and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, supplements and equivalent substitutions made within the scope of the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A disturbance source location positioning system based on electromagnetic disturbance positioning, characterized in that , comprising an electromagnetic signal transmitting module (1), an electromagnetic signal receiving module (2) and a main control unit module (3); the electromagnetic signal transmitting module (1) comprises a signal generator (4) for transmitting a quasi-static magnetic field signal; the electromagnetic signal receiving module (2) comprises a plurality of sensors (6) for sensing a magnetic field and generating an induced voltage; the main control unit module (3) comprises a system electronic unit (7) and a computer (8) for processing the induced signal in real time and calculating the position and posture of the disturbance source.

2. A disturbance source location positioning system based on electromagnetic disturbance positioning according to claim 1, characterized in that: The signal generator (4) is composed of a plurality of mutually orthogonal coils (5), each coil generating a magnetic field along a different axial direction, and all magnetic fields are combined to form a three-dimensional magnetic field environment covering the entire area to be measured.

3. The disturbance source location positioning system based on electromagnetic disturbance positioning according to claim 1, characterized in that: The sensor (6) is composed of a plurality of electromagnetic induction coils and is capable of sensing changes in the magnetic field and generating an induced voltage.

4. The disturbance source location positioning system based on electromagnetic disturbance positioning according to claim 1, characterized in that: The system electronic unit is used to control the data communication between the signal generator and the sensor, and transmit the induced voltage signal from the sensor to the computer for processing.

5. The disturbance source location positioning system based on electromagnetic disturbance positioning according to claim 1, characterized in that: The computer starts or adjusts the working state of the positioning system by sending an operation command.

6. A disturbance source location positioning method based on electromagnetic disturbance positioning, characterized in that: The method is implemented by using the disturbance source location positioning system based on electromagnetic disturbance positioning as described in any one of claims 1 to 5, comprising the following steps: S1: The signal generator generates a high-frequency quasi-static magnetic field signal to form a three-dimensional magnetic field environment covering the area to be tested; S2: Induce magnetic field changes through sensors and generate corresponding induced voltage; S3: The system electronic unit receives the induced voltage signal from the sensor and transmits it to the computer for processing. The computer compares and analyzes the received data to generate a comparison analysis data set and a basic data set; the comparison analysis data set is a data set without a disturbance source in the test environment, and the basic data set is a data set with a disturbance source in the test environment; S4: Divide the basic data set into a training data set and a verification data set, and use the training data set to match the control analysis data set to generate a preliminary positioning fitting formula; use the verification data set to feedback verify the preliminary positioning fitting formula, adjust and optimize the positioning fitting formula through multiple iterations, and finally generate a passive target positioning algorithm based on the optimized positioning fitting formula to achieve disturbance source location and tracking.

7. The method for locating a disturbance source based on electromagnetic disturbance positioning according to claim 6, characterized in that: The sensor captures the changes in the magnetic field during the movement of the disturbance source and generates a corresponding induced voltage. The system electronic unit digitizes the induced voltage signal generated by the sensor and transmits it to the computer for processing.

8. The method for locating a disturbance source based on electromagnetic disturbance positioning according to claim 6, characterized in that: The computer receives the detection data from the system electronic unit, and divides the detection data into a comparison analysis data set and a basic data set according to whether a disturbance source exists.

9. The method for locating a disturbance source based on electromagnetic disturbance positioning according to claim 6, characterized in that: The coupling relationship between the signal generator coil parameters and the sensor induced voltage v(t) is: Where μ0 is the magnetic permeability in vacuum (μ0 = 4π×10 -7 N / A 2 ), μ r is the relative magnetic permeability of the magnetic core, A is the cross-sectional area of ​​the circular induction coil, N is the number of coil turns, B0 is the amplitude of the magnetic field magnetic induction intensity, ω is the angular frequency of the spatial magnetic field, is the unit vector of the spatial magnetic field direction, is the unit vector in the direction of the central axis of the induction coil.

10. The method for locating a disturbance source based on electromagnetic disturbance positioning according to claim 6, characterized in that: The specific method of generating the positioning fitting formula is: Using a data fitting algorithm, the disturbance source position data and the changes in the induced voltage in the training data set are matched with the data in the control analysis data set to generate a preliminary positioning fitting formula; The fitting results of the preliminary positioning fitting formula are fed back and verified through the verification data set; that is, by comparing the difference between the fitting results and the actual disturbance source position, the error regression analysis and iterative optimization algorithm are used to continuously adjust the model parameters and optimize the positioning fitting formula.

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