Frequency hopping method and device for magnetic field quality assessment based on radio electromagnetic positioning

Abstract

This invention discloses a frequency-hopping method and apparatus for magnetic field quality assessment based on radio electromagnetic positioning, relating to the field of radio electromagnetic positioning. The method includes: constructing and calibrating a radio electromagnetic positioning system to obtain a calibration coefficient matrix; traversing each group of excitation signals in the signal combination, inputting the excitation current corresponding to the three different frequencies of excitation signals in each group of excitation signals to the transmitting module; acquiring the induced voltage generated by the receiving module and performing a Fourier transform to obtain a voltage amplitude matrix; calculating the corresponding magnetic flux density matrix based on the voltage amplitude matrix and the calibration coefficient matrix; constructing and solving an objective equation based on the vector formed by the magnetic flux density matrix and its singular values ​​to obtain three singular values; calculating the magnetic field quality coefficient corresponding to each group of excitation signals based on the three singular values, and determining the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning. This invention solves the problem of increased positioning errors caused by magnetic field distortion.

Description

Technical Field

[0001] This invention relates to the field of radio electromagnetic positioning, and more specifically to a frequency hopping method and apparatus for assessing magnetic field quality based on radio electromagnetic positioning. Background Technology

[0002] During radio electromagnetic positioning, the magnetic field strength of the alternating electromagnetic field generated by the device decreases rapidly with increasing distance. Furthermore, when ferromagnetic materials or other magnetic sources are present around the coils of the transmitting and receiving modules, the magnetic force of the alternating magnetic field is easily interfered with and distorted, causing the distribution of magnetic field lines in space to deviate from the theoretical magnetic field distribution model. This leads to inaccurate electromagnetic positioning. Therefore, a solution is urgently needed to assess the quality of the magnetic field in real time and switch the operating frequency based on the assessment results, thereby improving positioning accuracy. Summary of the Invention

[0003] The purpose of this application is to provide a frequency hopping method and apparatus for magnetic field quality assessment based on radio electromagnetic positioning, addressing the aforementioned technical problems.

[0004] In a first aspect, the present invention provides a frequency hopping method for magnetic field quality assessment based on radio electromagnetic positioning, comprising the following steps:

[0005] S1. Construct and calibrate a radio electromagnetic positioning system, and determine the calibration coefficient matrix of the radio electromagnetic positioning system. The radio electromagnetic positioning system includes a transmitting module and a receiving module, and both the transmitting module and the receiving module are composed of coils with three orthogonal axes.

[0006] S2 provides a signal combination containing multiple sets of excitation signals, wherein each set of excitation signals contains three different frequency excitation signals corresponding to three coils in the transmitting module;

[0007] S3, iterate through each group of excitation signals in the signal combination, input the excitation current corresponding to the three different frequency excitation signals in each group of excitation signals into the three coils of the transmitting module respectively and generate an induced magnetic field; obtain the induced voltage generated by the three coils of the receiving module through the induced magnetic field and perform Fourier transform to extract the corresponding voltage amplitude matrix.

[0008] S4. Calculate the corresponding magnetic flux density matrix based on the voltage amplitude matrix and calibration coefficient matrix. Construct a target equation based on the vector formed by the magnetic flux density matrix and its singular values. Solve the target equation to obtain three singular values. Calculate the magnetic field quality coefficient corresponding to each set of excitation signals based on the three singular values. Determine the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning based on all the magnetic field quality coefficients.

[0009] As a preferred option, the objective equation is expressed as:

[0010] ;

[0011] in, This represents the calculation of the determinant of a matrix. The magnetic flux density matrix is ​​expressed as follows: , Indicates magnetic flux density. , and This represents three different frequencies corresponding to the three coils in the transmitting module. , and These represent the three orthogonal axes corresponding to the three coils of the receiving module; This represents the vector formed by the singular values ​​of the magnetic flux density matrix. Represents three singular values; Represents the identity matrix. This represents the transpose of a matrix.

[0012] As a preferred embodiment, the magnetic field mass coefficient is expressed as:

[0013] ;

[0014] in, Indicates the magnetic field mass coefficient. This indicates taking the absolute value.

[0015] As a preferred method, the magnetic flux density matrix is ​​calculated using the following formula:

[0016] ;

[0017] in, Represents the calibration coefficient matrix. , , , , , , , , and These are the calibration coefficients corresponding to the frequencies of the three coils in the transmitting module and the three coils in the receiving module, respectively. Represents the voltage magnitude matrix. ; This indicates the voltage amplitude.

[0018] Preferably, the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning is determined based on all magnetic field quality coefficients, specifically including:

[0019] The three different frequencies of the excitation signal corresponding to the minimum value among all magnetic field quality coefficients are selected as the operating frequencies of the radio electromagnetic positioning system for electromagnetic positioning.

[0020] As a preferred option, it also includes:

[0021] Repeat steps S3-S4 at fixed intervals to calculate the magnetic field quality coefficient corresponding to each set of excitation signals and redetermine the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning.

[0022] Secondly, the present invention provides a frequency hopping device for magnetic field quality assessment based on radio electromagnetic positioning, comprising:

[0023] The calibration module is configured to construct and calibrate a radio electromagnetic positioning system, and to determine the calibration coefficient matrix of the radio electromagnetic positioning system. The radio electromagnetic positioning system includes a transmitting module and a receiving module, both of which consist of coils with three orthogonal axes.

[0024] The signal providing module is configured to provide a signal combination containing multiple sets of excitation signals, wherein each set of excitation signals contains three excitation signals of different frequencies corresponding to three coils in the transmitting module;

[0025] The data extraction module is configured to traverse each group of excitation signals in the signal combination, input the excitation current corresponding to the three excitation signals of different frequencies in each group of excitation signals into the three coils of the transmitting module to generate an induced magnetic field; obtain the induced voltage generated by the three coils of the receiving module through the induced magnetic field and perform Fourier transform to extract the voltage amplitude matrix.

[0026] The data processing module is configured to calculate the corresponding magnetic flux density matrix based on the voltage amplitude matrix and the calibration coefficient matrix, construct a target equation based on the vector formed by the magnetic flux density matrix and its singular values, solve the target equation to obtain three singular values, calculate the magnetic field quality coefficient corresponding to each set of excitation signals based on the three singular values, and determine the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning based on all the magnetic field quality coefficients.

[0027] Thirdly, the present invention provides an electronic device including one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any implementation of the first aspect.

[0028] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any of the implementations of the first aspect.

[0029] Fifthly, the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the method as described in any of the implementations in the first aspect.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] (1) In the frequency hopping method for magnetic field quality assessment based on radio electromagnetic positioning proposed in this invention, the excitation current corresponding to the three different frequencies of the excitation signals in each group of excitation signals is input to the three coils of the transmitting module to generate an induced magnetic field. Then, the induced voltage generated by the three coils of the receiving module is subjected to Fourier transform to extract the voltage amplitude matrix. The corresponding magnetic induction intensity matrix is ​​calculated based on the voltage amplitude matrix and the calibration coefficient matrix obtained by calibration. The target equation is constructed using the vector formed by the magnetic induction intensity matrix and its singular values. The target equation is solved to obtain the three singular values. The magnetic field quality coefficient is calculated using the three singular values. The alternating magnetic field generated by the transmitting module can be effectively evaluated through the magnetic field quality coefficient.

[0032] (2) The frequency hopping method for magnetic field quality assessment based on radio electromagnetic positioning proposed in this invention improves positioning accuracy by performing real-time assessment of magnetic field quality and switching frequencies based on the assessment results of magnetic field quality (i.e., magnetic field quality coefficient).

[0033] (3) The frequency hopping method for magnetic field quality assessment based on radio electromagnetic positioning proposed in this invention can assess the magnetic field quality of the radio electromagnetic positioning system at fixed intervals and adjust the operating frequency of the radio electromagnetic positioning system in a timely manner according to the change of the magnetic field quality coefficient, so as to avoid the magnetic field being distorted due to interference, which would lead to a larger magnetic field positioning error. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a flowchart illustrating a frequency hopping method for magnetic field quality assessment based on radio electromagnetic positioning, as an embodiment of this application.

[0036] Figure 2 This is a schematic diagram of a radio electromagnetic positioning system based on a frequency hopping method for magnetic field quality assessment according to an embodiment of this application.

[0037] Figure 3 This is a schematic diagram of a magnetic field distribution model in which no ferromagnetic material exists around the coil of a frequency-hopping method for magnetic field quality assessment based on radio electromagnetic positioning, as an embodiment of this application.

[0038] Figure 4 This is a schematic diagram of the magnetic field distribution model of a frequency hopping method for magnetic field quality assessment based on radio electromagnetic positioning, which is an embodiment of this application, in which a ferromagnetic material exists around the coil.

[0039] Figure 5 A schematic diagram of a frequency hopping device for magnetic field quality assessment based on radio electromagnetic positioning, as an embodiment of this application;

[0040] Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0042] Figure 1 An embodiment of this application illustrates a frequency hopping method for magnetic field quality assessment based on radio electromagnetic positioning, comprising the following steps:

[0043] S1. Construct and calibrate a radio electromagnetic positioning system, and determine the calibration coefficient matrix of the radio electromagnetic positioning system. The radio electromagnetic positioning system includes a transmitting module and a receiving module, both of which are composed of coils with three orthogonal axes.

[0044] For details, please refer to Figure 2 First, a radio electromagnetic positioning system is constructed, comprising a transmitting module and a receiving module arranged opposite each other. The transmitting module consists of three orthogonally aligned coils, and the receiving module also consists of three orthogonally aligned coils. Each coil in the transmitting module receives an excitation current of a corresponding frequency, generating an induced magnetic field. Each coil in the receiving module then generates an induced voltage under this magnetic field. The magnetic flux density of the induced magnetic field and the induced voltage generated by the coils in the receiving module have a linear relationship.

[0045] Further reference Figure 3 and Figure 4When ferromagnetic materials appear in a magnetic field, it can cause the original magnetic field to deform and twist, thus deviating from the original magnetic field distribution model. Therefore, it is necessary to evaluate the quality of the magnetic field distribution and determine the appropriate magnetic field operating frequency.

[0046] In one embodiment, a uniform magnetic field can be generated using a Helmholtz coil, and the receiving module can be placed inside the coil. Simultaneously, a linear relationship between the uniform magnetic field and the induced voltage of the receiving coil is obtained, thus completing the calibration. Other calibration methods can also be used in other embodiments.

[0047] S2 provides a signal combination containing multiple sets of excitation signals, wherein each set of excitation signals contains three excitation signals of different frequencies corresponding to the three coils in the transmitting module.

[0048] Specifically, n sets of excitation signals are prepared in advance, each set of excitation signals contains three different frequencies, and the excitation current corresponding to the three different frequencies is used to input into three triaxial orthogonal coils in the transmitting module respectively.

[0049] S3, iterate through each group of excitation signals in the signal combination, input the excitation current corresponding to the three different frequency excitation signals in each group of excitation signals into the three coils of the transmitting module respectively to generate an induced magnetic field; obtain the induced voltage generated by the three coils of the receiving module through the induced magnetic field and perform Fourier transform to extract the voltage amplitude matrix.

[0050] Specifically, by arbitrarily selecting a set of excitation signals and inputting excitation currents of corresponding frequencies to the three coils of the transmitting module, a magnetic field of the corresponding frequency can be generated in space. When the receiving module senses the magnetic field generated by the transmitting module, it can generate a corresponding induced voltage. By performing a Fourier transform on the induced voltages of the three coils of the receiving module and extracting the voltage amplitude at the corresponding frequency, a voltage amplitude matrix can be constructed. , This represents the voltage amplitude induced by the coil located on the x-axis in the receiving module, which is the voltage excited by the coil in the transmitting module at a frequency of f1, and so on.

[0051] S4. Calculate the corresponding magnetic flux density matrix based on the voltage amplitude matrix and calibration coefficient matrix. Construct a target equation based on the vector formed by the magnetic flux density matrix and its singular values. Solve the target equation to obtain three singular values. Calculate the magnetic field quality coefficient corresponding to each set of excitation signals based on the three singular values. Determine the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning based on all the magnetic field quality coefficients.

[0052] In a specific embodiment, the magnetic flux density matrix is ​​represented as:

[0053] ;

[0054] in, Represents the calibration coefficient matrix. , , , , , , , , and These are the calibration coefficients corresponding to the frequencies of the three coils in the transmitting module and the three coils in the receiving module, respectively. Represents the voltage magnitude matrix. ; This indicates the voltage amplitude.

[0055] In a specific embodiment, the objective equation is expressed as:

[0056] ;

[0057] in, This represents the calculation of the determinant of a matrix. The magnetic flux density matrix is ​​expressed as follows: , Indicates magnetic flux density. , and This represents three different frequencies corresponding to the three coils in the transmitting module. , and These represent the three orthogonal axes corresponding to the three coils of the receiving module; This represents the vector formed by the singular values ​​of the magnetic flux density matrix. Represents three singular values; Represents the identity matrix. This represents the transpose of a matrix.

[0058] In a specific embodiment, the magnetic field mass coefficient is expressed as:

[0059] ;

[0060] in, Indicates the magnetic field mass coefficient. This indicates taking the absolute value.

[0061] In a specific embodiment, the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning is determined based on all magnetic field quality coefficients, specifically including:

[0062] The three different frequencies of the excitation signal corresponding to the minimum value among all magnetic field quality coefficients are selected as the operating frequencies of the radio electromagnetic positioning system for electromagnetic positioning.

[0063] Specifically, the corresponding magnetic flux density matrix is ​​calculated using the voltage amplitude matrix and the calibration coefficient matrix obtained from the calibration. , This represents the magnetic flux density induced by the coil located on the x-axis in the receiving module, which is excited by the coil in the transmitting module at a frequency of f1, and so on.

[0064] Furthermore, the target equation is constructed using the magnetic flux density matrix and the vector formed by its singular values, namely... The objective equation is solved by referring to the existing singular value decomposition theorem, and the corresponding singular values ​​are obtained. The magnetic field quality coefficient q is calculated based on the singular values ​​obtained from the solution. By switching excitation signals with different frequency combinations, n magnetic field quality coefficients q are obtained using the above method. A smaller magnetic field quality coefficient q indicates better magnetic field quality and less interference around the radio electromagnetic positioning system. Therefore, three different frequencies from the set of excitation signals corresponding to the minimum value of the n magnetic field quality coefficients q are selected as the operating frequencies for the radio electromagnetic positioning system during electromagnetic positioning.

[0065] In a specific embodiment, the method further includes: repeating steps S3-S4 at fixed time intervals to calculate the magnetic field quality coefficient corresponding to each set of excitation signals and redetermine the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning.

[0066] Specifically, a timer can be set to perform a magnetic field quality assessment at fixed intervals t, and different operating frequencies can be selected in different time periods to achieve frequency hopping, so as to adapt to the changes in interference around the radio electromagnetic positioning system.

[0067] Further reference Figure 5 As an implementation of the methods shown in the above figures, this application provides an embodiment of a frequency hopping device for magnetic field quality assessment based on radio electromagnetic positioning. This device embodiment is similar to... Figure 1 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0068] This application provides a frequency hopping device for magnetic field quality assessment based on radio electromagnetic positioning, comprising:

[0069] Calibration module 1 is configured to construct and calibrate a radio electromagnetic positioning system, and determine the calibration coefficient matrix of the radio electromagnetic positioning system. The radio electromagnetic positioning system includes a transmitting module and a receiving module, both of which are composed of coils with three orthogonal axes.

[0070] The signal providing module 2 is configured to provide a signal combination containing multiple sets of excitation signals, wherein each set of excitation signals contains three excitation signals of different frequencies corresponding to three coils in the transmitting module;

[0071] Data extraction module 3 is configured to traverse each group of excitation signals in the signal combination, input the excitation current corresponding to the three different frequency excitation signals in each group of excitation signals to the three coils of the transmitting module and generate an induced magnetic field; obtain the induced voltage generated by the three coils of the receiving module through the induced magnetic field and perform Fourier transform to extract the voltage amplitude matrix.

[0072] Data processing module 4 is configured to calculate the corresponding magnetic flux density matrix based on the voltage amplitude matrix and calibration coefficient matrix, construct a target equation based on the vector formed by the magnetic flux density matrix and its singular values, solve the target equation to obtain three singular values, calculate the magnetic field quality coefficient corresponding to each set of excitation signals based on the three singular values, and determine the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning based on all the magnetic field quality coefficients.

[0073] Figure 6 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. For example... Figure 6 As shown, the electronic device of this embodiment includes a processor 601 and a memory 602; wherein the memory 602 is used to store computer execution instructions; and the processor 601 is used to execute the computer execution instructions stored in the memory to implement the various steps performed by the electronic device in the above embodiment. For details, please refer to the relevant descriptions in the foregoing method embodiments.

[0074] Alternatively, the memory 602 can be either standalone or integrated with the processor 601.

[0075] When the memory 602 is set up independently, the electronic device also includes a bus 603 for connecting the memory 602 and the processor 601.

[0076] This invention also provides a computer storage medium storing computer execution instructions, which, when executed by processor 601, implement the above method.

[0077] This invention also provides a computer program product, including a computer program that, when executed by a processor 601, implements the above-described method.

[0078] In the embodiments provided by this invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0079] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0080] Furthermore, the functional modules in the various embodiments of this invention can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit formed by the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0081] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor 601 to execute some steps of the methods of the various embodiments of this application.

[0082] It should be understood that the processor 601 described above can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor, or the processor 601 can be any conventional processor 601. The steps of the method disclosed in this invention can be directly manifested as the hardware processor 601 executing the steps, or as a combination of hardware and software modules within the processor 601 executing the steps.

[0083] The memory 602 may include high-speed RAM memory, and may also include non-volatile memory NVM, such as at least one disk storage device, and may also be a USB flash drive, portable hard drive, read-only memory, disk or optical disc, etc.

[0084] Bus 603 can be an Industry Standard Architecture (ISA), a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Bus 603 can be divided into address bus, data bus, control bus, etc. For ease of illustration, the bus 603 in the accompanying drawings of this application is not limited to only one bus 603 or one type of bus 603.

[0085] The aforementioned storage medium can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0086] An exemplary storage medium is coupled to a processor 601, enabling the processor 601 to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor 601. The processor 601 and the storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor 601 and the storage medium can exist as discrete components in an electronic device or a host device.

[0087] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A frequency-hopping method for magnetic field quality assessment based on radio electromagnetic positioning, characterized in that, Includes the following steps: S1, Construct and calibrate a radio electromagnetic positioning system, and determine the calibration coefficient matrix of the radio electromagnetic positioning system, wherein the radio electromagnetic positioning system includes a transmitting module and a receiving module, and both the transmitting module and the receiving module are composed of coils with three orthogonal axes; S2, providing a signal combination containing multiple sets of excitation signals, wherein each set of excitation signals contains three excitation signals of different frequencies corresponding to the three coils in the transmitting module; S3, iterate through each group of excitation signals in the signal combination, input the excitation current corresponding to the three different frequency excitation signals in each group of excitation signals to the three coils of the transmitting module respectively and generate an induced magnetic field; obtain the induced voltage generated by the three coils of the receiving module through the induced magnetic field and perform Fourier transform to extract the corresponding voltage amplitude matrix. S4. Calculate the corresponding magnetic flux density matrix based on the voltage amplitude matrix and calibration coefficient matrix, and construct a target equation based on the vector formed by the magnetic flux density matrix and its singular values. The target equation is expressed as: det(mag T mag-σ 2 I)<0; Where det(·) denotes the determinant calculation of the matrix, and mag represents the magnetic flux density matrix, its expression is: B represents the magnetic flux density; f1, f2, and f3 represent three different frequencies corresponding to the three coils in the transmitting module; x, y, and z represent the three orthogonal axes corresponding to the three coils in the receiving module; σ = (σ1, σ2, σ3) represents the vector formed by the singular values ​​of the magnetic flux density matrix, where σ1, σ2, and σ3 represent the three singular values; I represents the identity matrix; and T represents the transpose of the matrix. The target equation is solved to obtain the three singular values. The magnetic field quality coefficient corresponding to each set of excitation signals is calculated based on the three singular values, and the magnetic field quality coefficient is expressed as: Where q represents the magnetic field quality coefficient, and abs(·) represents taking the absolute value; the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning is determined based on all the magnetic field quality coefficients, specifically including: selecting three different frequencies from a set of excitation signals corresponding to the minimum value among all the magnetic field quality coefficients as the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning.

2. The frequency hopping method for magnetic field quality assessment based on radio electromagnetic positioning according to claim 1, characterized in that, The magnetic induction intensity matrix is ​​calculated using the following formula: mag = λU; Where λ represents the calibration coefficient matrix. λ1, λ2, λ3, λ4, λ5, λ6, λ7, λ8, and λ9 are calibration coefficients corresponding to the frequencies of the three coils in the transmitting module and the three coils in the receiving module, respectively; U represents the voltage amplitude matrix. V represents the voltage amplitude.

3. The frequency hopping method for magnetic field quality assessment based on radio electromagnetic positioning according to claim 1, characterized in that, Also includes: Repeat steps S3-S4 at fixed intervals to calculate the magnetic field quality coefficient corresponding to each set of excitation signals and redetermine the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning.

4. A frequency hopping device for magnetic field quality assessment based on radio electromagnetic positioning, characterized in that, include: A calibration module is configured to construct and calibrate a radio electromagnetic positioning system, and to determine the calibration coefficient matrix of the radio electromagnetic positioning system, wherein the radio electromagnetic positioning system includes a transmitting module and a receiving module, both of which consist of coils with three orthogonal axes. The signal providing module is configured to provide a signal combination comprising multiple sets of excitation signals, wherein each set of excitation signals comprises three excitation signals of different frequencies corresponding to three coils in the transmitting module; The data extraction module is configured to traverse each group of excitation signals in the signal combination, input the excitation current corresponding to the three excitation signals of different frequencies in each group of excitation signals to the three coils of the transmitting module to generate an induced magnetic field; obtain the induced voltage generated by the three coils of the receiving module through the induced magnetic field and perform Fourier transform to extract the voltage amplitude matrix. The data processing module is configured to calculate the corresponding magnetic flux density matrix based on the voltage amplitude matrix and the calibration coefficient matrix, and to construct a target equation based on the vector formed by the magnetic flux density matrix and its singular values. The target equation is expressed as: det(mag T mag-σ 2 I)<0; Where det(·) denotes the determinant calculation of the matrix, and mag represents the magnetic flux density matrix, its expression is: B represents the magnetic flux density; f1, f2, and f3 represent three different frequencies corresponding to the three coils in the transmitting module; x, y, and z represent the three orthogonal axes corresponding to the three coils in the receiving module; σ = (σ1, σ2, σ3) represents the vector formed by the singular values ​​of the magnetic flux density matrix, where σ1, σ2, and σ3 represent the three singular values; I represents the identity matrix; and T represents the transpose of the matrix. The target equation is solved to obtain the three singular values. The magnetic field quality coefficient corresponding to each set of excitation signals is calculated based on the three singular values, and the magnetic field quality coefficient is expressed as: Where q represents the magnetic field quality coefficient, and abs(·) represents taking the absolute value; the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning is determined based on all the magnetic field quality coefficients, specifically including: selecting three different frequencies from a set of excitation signals corresponding to the minimum value among all the magnetic field quality coefficients as the operating frequency of the radio electromagnetic positioning system for electromagnetic positioning.

5. An electronic device, comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-3.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-3.

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