The invention discloses a micro-electromagnetic positioning method and
system and a storage medium thereof. The method comprises the steps that
sine wave current with
fixed frequency sequentially, circularly and alternately passes through three groups of
magnetic source micro-electromagnetic coils in sequence to excite
sine wave magnetic fields in three dimensions; acquiring
magnetic field data information of a positioning target in the
sine wave magnetic field, and acquiring the
magnetic field data information of the positioning target in the corresponding sine wave magnetic
field based on the fact that one group of
magnetic source micro electromagnetic coils are electrified each time, the magnetic
field data information comprises a three-dimensional magnetic field component sensed by the positioning target in the sine wave magnetic field; fitting the three-dimensional magnetic field component of each dimension, and decomposing the three-dimensional magnetic field component to obtain independent magnetic field signals of three groups of
magnetic source micro electromagnetic coils at the positioning target; and obtaining the position and attitude information of the positioning target according to the independent magnetic field
signal. According to the invention, three-dimensional sine wave magnetic fields with
fixed frequency can be excited circularly and alternately, so that a positioning target can generate three-dimensional data to facilitate positioning calculation. In addition, a function fitting mode is adopted to assist in positioning calculation, after n-
point data fitting, the standard deviation of an equivalent magnetic field measurement value can be reduced to # imgabs0 # of a direct measurement result, the
signal-to-
noise ratio is remarkably improved, superimposed magnetic field
signal data with high accuracy are extracted, and the precision of a
positioning system can be improved. According to the positioning method, the
system is high in anti-interference capability, the calculation result is more accurate, the overall
power consumption is low, and the cost is low.