242 results about "Magnetic source" patented technology

According to the displacement modulation and optical assistance-based SERF atom magnetometer magnetic imaging method, an SERF atom magnetometer integrated with a magnetic flux guider is used as a magnetic sensor, and low-frequency magnetic field modulation is introduced to the magnetic sensor by controlling a to-be-tested sample to perform periodic infinitesimal displacement in the sensitive direction of the magnetic sensor; the modulation signal is demodulated by combining a phase-locked amplification technology, and a magnetic response signal subjected to phase-locked demodulation at each spatial position is extracted; constructing a magnetic response matrix through two-dimensional track scanning of micron-order step pitch; an image acquisition module and a reflection optical assembly are introduced for spatial registration so as to monitor the relative position in real time, and the visibility and controllability of the magnetic imaging process are guaranteed; the point-by-point detection of fT-level weak magnetic signals can be realized on the premise that an array structure is not needed; the low-frequency noise interference can be effectively inhibited, the stability and definition of direct-current and low-frequency magnetic field imaging are improved, and the method is suitable for high-resolution space imaging application of weak magnetic sources such as magnetic domain structures, nervous tissue slices and ancient rock samples.

The invention discloses a magnetic source positioning method based on a spin-exchange relaxation-free atom magnetometer, and aims to provide a high-precision brand-new solution for magnetic source positioning in a near-zero magnetic environment by performing physical modeling and least square estimation on space magnetic field distribution of a target magnetic source. The magnetometer is enabled to be simultaneously sensitive to a three-axis magnetic field, a light absorption detection method is utilized to ensure that complete three-axis magnetic field information is obtained, and the sensitivity of the three axes reaches fT / Hz1 / 2 (1fT = 10 <-15 > T) magnitude. In the positioning process, the target magnetic source is abstracted into a physical model of the magnetic dipole, and the space magnetic field information generated by the target magnetic source is obtained through the atom magnetometer, so that the long-term stability of the magnetic source positioning process and the high precision of the positioning result can be ensured in the zero magnetic environment; therefore, a high-precision magnetic positioning technical means with great potential is provided for various application scenes such as paleomagnetic sample testing and magnetic source positioning in medical research, and technical progress and application expansion in related fields are expected to be promoted.

The invention provides a double-magnetic-source micro-nano magnetic medium sealing device and a gas turbine, and relates to the technical field of sealing devices.The double-magnetic-source micro-nano magnetic medium sealing device comprises an outer rotor, an inner rotor, a first sealing assembly and a second sealing assembly; the first sealing assembly and the second sealing assembly are matched with the cavity and comprise first pole shoes, permanent magnets and second pole shoes which are sequentially arranged in the first direction, and the magnetic pole direction of the permanent magnets and the direction where the pivoting axis of the inner rotor is located are the first direction. The polarity of the permanent magnet of the first sealing assembly and the polarity of the permanent magnet of the second sealing assembly are opposite, and the permanent magnet of the first sealing assembly and the permanent magnet of the second sealing assembly are spaced in the radial direction of the inner rotor. Micro-nano magnetic media are adsorbed between the first pole shoe of the first sealing assembly and the first pole shoe of the second sealing assembly and between the second pole shoe of the first sealing assembly and the second pole shoe of the second sealing assembly. According to the invention, the stroke of a magnetic loop is shortened by adopting double magnetic sources, the magnetic field intensity at a sealing gap is increased, and the pressure resistance of a micro-nano magnetic medium under a high-speed working condition is improved.

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.

The invention provides a multi-magnetic accurate positioning method based on APSO-LM fusion, and solves the technical contradictions that global search and local convergence are unbalanced and the resolving efficiency is low in the existing multi-magnetic accurate positioning technology. The method comprises the following steps: constructing a magnetic moment calibration module, selecting a sensor array calibration point, collecting magnetic field data, and calculating a precise magnetic moment amplitude based on a magnetic dipole model; an NSS-VMGT initial positioning result is input through a parameter initialization module, APSO and LM algorithm parameters are configured, and particle vectors are normalized; generating a particle swarm by using an APSO global search module, and iteratively screening a global optimal parameter as an LM initial value; calculating a residual error and a Jacobian matrix by means of an LM local refining module, and iteratively optimizing and outputting a magnetic source position and a magnetic moment; and the dynamic compensation module is used for calibrating clock skew and inhibiting environment interference. The device is realized based on STM32H743, and comprises a 7 * 7 lis2mdltr sensor array, a dual-chip data acquisition link, an APSO-LM algorithm hardware acceleration module and an upper computer interaction unit.

Methods and systems are provided for drilling a secondary wellbore relative to a target wellbore, which involve drilling the secondary wellbore with a bottomhole assembly (BHA) that extends from a drill string. The BHA includes a magnetic field detector, a steering component, a drill bit, and at least one processor. The magnetic field detector is configured to detect a time- varying magnetic field generated from a rotating magnetic source of a drilling tool disposed in the target wellbore. The at least one processor is configured to i) use data output by the magnetic field detector to continually determine distance and direction or azimuth of the magnetic source relative to the BHA while drilling, and ii) use the distance and direction or azimuth of the magnetic source relative to the BHA while drilling to adjust the steering of the drilling performed by the BHA as controlled by the steering component of the BHA. The operations of the least one processor can be configured to adjust steering of the drilling of the BHA in order to maintain a set distance and direction or azimuth relative to the target wellbore, autonomously without surface input or interference, whilst drilling with the BHA.

The invention discloses a microcapsule for realizing targeted drug delivery by adopting magnetic localization. The microcapsule comprises a shell, and a localization magnetic source, an image acquisition device and a drug delivery structure are arranged in the shell; the image acquisition device is arranged in the shell through the mounting seat; a medicine feeding hole is formed in the shell, the medicine feeding structure comprises a piston push rod arranged in the shell, one end of the piston push rod is arranged in the shell through driving of a driving table, and a medicine feeding part capable of stretching out and drawing back relative to the medicine feeding hole is arranged at the other end of the piston push rod. The invention discloses a microcapsule for realizing targeted drug delivery by adopting magnetic localization and a control method, the adopted integrated magnetic control capsule is small in size, flexible, light and convenient, the degree of freedom in the stomach is large, multi-angle observation can be realized, and the problem of incomplete sampling information caused by angle reasons is greatly avoided.

A method for detecting a magnetic marker comprises generating a driving magnetic field comprising first and second frequencies and detecting a response magnetic field comprising first and second response components. The magnetic marker provides a non-linear response to the driving signal. A primary portion of the response components is generated by the magnetic marker, and secondary portion of the response components is generated by a secondary magnetic source. The method comprises determining a driving factor representing a ratio of the frequencies in the driving signal; determining a correction factor corresponding to the secondary portion of the second response component, based on the first response component and the driving factor; determining a detection signal corresponding to the primary portion of the second response component, based on the second response component and the determined correction factor; and generating an output signal based on a strength of the detection signal.

The invention discloses a multi-magnetic-source comb-shaped water tank magnetic liquid sealing device, and belongs to the field of mechanical engineering sealing. A first pole shoe, a second pole shoe, a third pole shoe and a fourth pole shoe which are provided with annular comb-shaped tooth grooves are alternately connected with a first permanent magnet, a second permanent magnet and a third permanent magnet in series, wherein the first permanent magnet, the second permanent magnet and the third permanent magnet are arranged in a manner that N-S-S-N-N-S magnetic sources are arranged in sequence or N-S-N-S-N-S-S-S-S-S magnetic sources are arranged in an inverted manner, and the multi-magnetic-source comb-shaped water tank sealing assembly is formed. Each pole shoe is provided with an annular cooling water tank, and spiral fins are machined on the bottom face and the side face of each cooling water tank, so that the effective heat exchange area in magnetic liquid sealing can be increased, convective heat transfer of cooling fluid is enhanced, the heat dissipation capacity is enhanced, the stable temperature of the magnetic liquid is kept, the sealing pressure resistance is improved, and the service life is prolonged. The installation mode that the multiple magnetic sources are sequentially arranged can compensate the weakening effect of the water tank on the magnetic field through magnetic field superposition, the magnetic field intensity difference value of the pole teeth is increased, and the sealing and pressure resisting capacity of the magnetic liquid is further enhanced.

The invention provides an indoor local magnetic field modeling method and device based on a magnetic source equivalence principle, and belongs to the technical field of indoor localization, and the method comprises the steps: collecting the data of a three-axis magnetometer in a space range through an array type magnetic sensor, and obtaining the original measurement information of an indoor magnetic field; based on a magnetic source equivalence principle, an indoor magnetic field is modeled into an equivalent magnetic dipole model consisting of a plurality of equivalent magnetic dipoles, and a magnetic field generated by the model is consistent with a real magnetic field in an observation area by setting magnetic moment and position parameters of the magnetic dipoles; according to the measured value of the array type magnetic sensor, an observation model is established in combination with an equivalent magnetic dipole model and used for describing the relation between the measured value and model parameters; through a nonlinear least square optimization method, parameters of the equivalent magnetic dipole model are solved according to the observation model, the equivalent magnetic dipole model of the indoor magnetic field is obtained, and the parameters comprise the magnetic moment and the position of the magnetic dipole. The precision and the reliability of the model are remarkably improved.

The invention discloses an electromagnetic positioning method and system in a strong magnetic field environment and a storage medium thereof. The method comprises the steps that sine wave current with fixed frequency is adopted to sequentially, circularly and alternately pass through four 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 four 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. Compared with the prior art, the method has the following beneficial effects that the method can cyclically and alternately excite three-dimensional sine wave magnetic fields with fixed frequency, 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.

The invention discloses an overlying strata fracture electromagnetic imaging method and a grouting system, and particularly relates to the technical field of geological fracture imaging. The invention discloses an overlying strata fissure electromagnetic imaging method and a grouting system. The method comprises the steps that S1, magnetic source slurry containing permanent magnetic material particles is injected into a target overlying strata fissure area through the grouting system; s2, magnetizing the magnetic source slurry injected into the crack through an electromagnetic coil group arranged on the grouting system; s3, tracer slurry containing magnetic responsive nanoparticles is injected into the fissure area where the guiding magnetic field is formed through a grouting system; s4, in-hole electromagnetic detection equipment is adopted to scan the fracture area filled with the tracing slurry, and electromagnetic response data are obtained; and S5, processing and analyzing the electromagnetic response data. According to the overlying strata fissure electromagnetic imaging method and the grouting system provided by the invention, through a technical path of'pilot magnetism and post tracing ', the tracing slurry is actively guided to directionally migrate by utilizing the magnetic field, and high-precision filling and electromagnetic imaging of an overlying strata fissure network are realized.

The invention relates to the technical field of joint module motors, and discloses a rotor structure and a joint module motor, and the rotor structure comprises a rotor support which is provided with a plurality of magnetic sheets; the magnetic encoder induces the magnetic source, is coaxially arranged on the rotor bracket and rotates along with the rotor bracket; the encoder chip and the rotor support are arranged in a split mode, a gap is formed between the encoder chip and the magnetic encoder induction magnetic source, the positions of the encoder chip and the magnetic encoder induction magnetic source correspond to each other, and the encoder chip is used for detecting magnetic field changes when the magnetic encoder induction magnetic source rotates so as to detect the rotating position of the rotor structure. The induction magnetic source of the magnetic encoder is directly and coaxially arranged on the rotor support and synchronously rotates along with the rotor support, rotation signals can be detected without a gear transmission component, and the internal structure of the motor is simplified. According to the invention, transmission structures such as gears are cancelled, so that extra space occupation is avoided, the axial volume of the motor is effectively reduced, and the miniaturization design of the motor is facilitated.

The invention provides a positioning system and method for a permanent magnet target in a gastrointestinal tract. The positioning system comprises a magnetic source, a magnetic sensor array and a processing module, the magnetic source is used for generating a magnetic field; the magnetic sensor array is used for measuring the magnetic field intensity in the space; and the processing module acquires magnetic field intensity data, and further performs spatial position and orientation calculation of the target by using the magnetic moment and magnetic field intensity data of the magnetic source based on a magnetic dipole model and a magnetic moment theory. By means of the innovative magnetic field induction technology and the magnetic dipole model, the problems that in the prior art, positioning of an electronic capsule in the gastrointestinal tract is insufficient in precision, large in external interference, difficult in posture information obtaining, incapable of meeting the requirement for precise diagnosis and treatment in modern medical treatment and the like are solved, and permanent magnet target positioning in the gastrointestinal tract can be achieved.

The invention discloses a magnetic source target positioning method, which belongs to the technical field of geophysical exploration, is used for positioning a magnetic source target, and comprises the following steps: collecting and preprocessing plane grid magnetic anomaly data, constructing a simplified Euler deconvolution model under the constraint of derivative features, segmenting observation data by using a local sliding window, and resolving to generate an Euler solution point cloud. The method comprises the following steps: converting a selection problem of an equivalent scale factor into a one-dimensional global optimization problem, adaptively searching an optimal solution through a Bayesian optimization method, identifying a magnetic source high-probability solution point and a noise solution point by using a density-based spatial clustering method, introducing a density penalty term to strengthen a high-probability solution constraint, and constructing a final positioning target function. And outputting the optimal position solution of the magnetic source. According to the method, a traditional Euler deconvolution model is simplified, noise interference is effectively suppressed, the stability and robustness of the inversion process are improved, uncertainty caused by manual parameter selection is avoided, and the positioning precision is improved.

A method for detecting a magnetic marker comprises generating a driving magnetic field comprising first and second frequencies and detecting a response magnetic field comprising first and second response components. The magnetic marker provides a non-linear response to the driving signal. A primary portion of the response components is generated by the magnetic marker, and a secondary portion of the response components is generated by a secondary magnetic source. The method comprises determining a driving factor representing a ratio of the frequencies in the driving signal; determining a correction factor corresponding to the secondary portion of the second response component, based on the first response component and the driving factor; determining a detection signal corresponding to the primary portion of the second response component, based on the second response component and the determined correction factor; and generating an output signal based on a strength of the detection signal.

The present disclosure relates to a method (100) of magnetically calibrating a magnetometer sensing system (30) with respect to an electronic device (50), the method (100) comprising: detecting (110) a disturbing magnetic source (520) in the electronic device (50) relative to a reference coordinate system (X, Y, Z) of the magnetometer sensing system (30); identifying (120) one or more magnetometers (Sk,l) of the magnetometer sensing system (30) which are magnetically affected by the detected disturbing magnetic source (520); selecting (130) one or more balancing magnetic sources (400) to reduce a magnetic effect of the detected disturbing magnetic source (520) on the one or more identified magnetometers (Sk,l); and placing (140) the one or more selected balancing magnetic sources (400) in a fixed relation to the magnetometer sensing system (30) and / or to the disturbing magnetic source (520).

This invention provides a device for tracking of a magnetic element and a system comprising said device; said device comprises: a) a magnetic actuation unit, comprising: i) an eye-in-hand sensing module; ii) a plurality of magnetic sources arranged evenly around said eye-in-hand sensing module, each of said plurality of magnetic sources is tilted at a tilt angle and separated from an adjacent magnetic source at an adjacent angle; and iii) an adjustment mechanism connected to each of said plurality of magnetic sources for adjusting said tilt angle and said adjacent angle to achieve a desired magnetic field; b) a robotic platform for mounting of said magnetic actuation unit and providing dexterous pose control of said magnetic actuation unit.

The invention relates to the technical field of anchor rod length detection, and discloses an anchor rod length detection device for shaft engineering and a detection method.The anchor rod length detection device comprises a protection frame, a sealing door is hinged to the top of the protection frame, a rubber plate is fixedly connected to the inner wall of the protection frame, an instrument host is arranged in the protection frame, and a sensor connecting line is inserted into the top of the instrument host; a sensor is inserted into the end, away from the instrument host, of the sensor connecting line, a threaded rod is rotationally connected to the end of the sensor, a super-magnetic source connecting line is inserted into the top of the instrument host, and a super-magnetic source is inserted into the end, away from the instrument host, of the super-magnetic source connecting line. The surface of the anchor rod is sleeved with the mounting cylinder, at the moment, the receiving end of the sensor makes contact with the end of the anchor rod, the output end of the super-magnetic source makes contact with the end of the anchor rod and is kept horizontal with the anchor rod, and the sensor transmits received signals to the instrument host through the sensor connecting line; therefore, the length of the anchor rod embedded into the soil layer is detected.

A lithographic apparatus (100) includes: a housing (400) defining an environment (401), where the environment surrounds a surface (402), where the housing is configured to contain a plasma; a microwave generator (410) configured to provide microwave radiation (411) into the housing; and a magnetic source (420) configured to generate a magnetic field adjacent to the surface, the magnetic field generating a plasma (432) by electron cyclotron resonance together with the microwave radiation, thereby increasing the concentration of the plasma adjacent to the surface.

This application provides a displacement sensor and a magnetic levitation system. The magnetic levitation system includes a magnetic levitation bearing and a displacement sensor. The displacement sensor includes: a first magnetic source mounted on the rotor shaft of the magnetic levitation bearing, used to generate a magnetic field; a substrate fixedly disposed at a distance from the first magnetic source, with a central hole for the rotor shaft to pass through; and a Hall array including multiple Hall chips, each attached to and electrically connected to the substrate. The Hall chips are distributed around the central hole, and each Hall chip can detect the magnetic flux density at its respective location to obtain position information of the first magnetic source and the rotor shaft. Compared to traditional magnetic levitation bearings, this application uses fewer displacement sensors, thus reducing the installation space occupied by the displacement sensors. It is also suitable for applications where the rotor shaft is extended.

The invention discloses a high-inertia multi-port composite motor for new energy grid connection. The high-inertia multi-port composite motor comprises a brushless doubly-fed motor, an axial permanent magnet motor and a magnetic gear structure. The brushless doubly-fed motor comprises a radial stator and a squirrel cage rotor, a power winding and a control winding are arranged in the stator and serve as a first electric port and a second electric port respectively, the axial permanent magnet motor comprises an axial stator and an axial permanent magnet rotor, and an armature winding is arranged in the stator and serves as a third electric port. The magnetic gear structure is arranged on the inner side of the squirrel cage rotor and the outer side of the rotating shaft, a brushless doubly-fed motor rotor magnetic field is used as a modulation magnetic source, the phase and amplitude of the magnetic field are adjustable, dynamic adjustment of the transmission ratio of the magnetic gear is achieved through a control winding, and electromagnetic and mechanical dual coupling is achieved. The equivalent rotational inertia of the composite motor is obviously higher than that of a single machine, stronger inertia support and frequency stability can be provided for a power grid in a new energy grid connection process, and the composite motor is provided with three independent electric ports, realizes multi-mode operation, and is compact in structure and high in power density.

The magnetic liquid sealing device of the present application belongs to the field of mechanical engineering sealing. The device is composed of the following components: main shaft, magnetic liquid I, pole shoe ring I, shell, sealing ring I, pump I, container I, sealing ring II, electromagnet I, magnetic conducting sleeve, electromagnet II, pump II, container II, sealing ring III, pole shoe ring II, magnetic liquid II, sealing ring IV, end cover. The sealing device composed of these components is a module that can be used in stack. Two kinds of magnetic liquids are used alternately or simultaneously, which expands the applicable temperature range of the magnetic liquid sealing. The sealing device is modularized, and different types of magnetic liquids can be used in different modules to have different applicable temperature ranges. The magnetic liquid sealing can be used in a wide temperature range by connecting the modules in series. The electromagnet is used as the magnetic source, and according to different working temperatures, the state of each magnetic liquid sealing can be independently controlled through cooperation with the pump to prevent permanent failure of the magnetic liquid due to temperature problems.

The invention discloses a cargo in-vitro magnetic field calculation method based on boundary magnetic field numerical integration, which relates to the technical field of electromagnetic detection, and comprises the following steps: constructing a cargo numerical model in finite element electromagnetic field calculation software, and setting the size of the cargo numerical model; determining the position of an initial magnetic source based on the cargo numerical model, and setting the intensity of the initial magnetic source; respectively calculating magnetic field intensities at positions 2.1 m and 4.6 m away from the initial magnetic source intensity through finite element electromagnetic field calculation software to obtain spatial magnetic field data, further obtaining attenuation coefficients of transverse unit detection points of all boundary planes, obtaining an attenuation coefficient set, and performing spatial interpolation and translation processing; coupling each actually measured magnetic field data acquired by the array sensor with attenuation coefficients at corresponding positions, and respectively solving magnetic field intensities at positions 2.1 m and 4.6 m away from the surface of a measured object; high-precision and high-efficiency calculation of the external magnetic field of the cargo is realized, and the rapid and lossless requirements of air transportation safety detection are met.

This application belongs to the field of geophysical magnetic exploration, and specifically discloses a method and device for reducing the pole of complex magnetic anomaly data containing remanent magnetism. The method includes: obtaining geophysical magnetic measurement data of underground magnetic bodies; using the frequency domain processing method to convert the geophysical magnetic measurement data into regularized magnetic source intensity, and determining the horizontal position of the magnetic source center according to the maximum value of the regularized magnetic source intensity; performing integral calculation according to the geophysical magnetic measurement data to obtain the integral result of the magnetization characteristics, and obtaining the global total magnetization direction according to the integral result; obtaining the total magnetization direction of the magnetic body according to the horizontal position of the magnetic source center and the global total magnetization direction; performing pole reduction processing with variable magnetization direction on the geophysical magnetic measurement data according to the total magnetization direction to obtain the pole-reduced field of the complex magnetic anomaly data containing remanent magnetism. Through this application, the accuracy of the total magnetization direction can be improved, and the problem of pole reduction of the remanent magnetism anomaly in the case of multiple field sources can be solved.

This invention provides an indoor magnetic navigation verification system and its operating method. The system includes an experimental platform, an optical positioning system, and a display terminal. The experimental platform, from bottom to top, comprises a support layer, a magnetic source deployment layer, a scene support layer, and a carrier operation layer. The magnetic source deployment layer contains a magnetic source array capable of receiving magnetic source control signals sent by a host computer. The magnetic source array includes multiple magnetic sources. A mobile carrier runs on the carrier operation layer. An edge computer acquires the motion data of the mobile carrier and outputs it to the host computer, which calculates the estimated trajectory of the mobile carrier. The optical positioning system includes multiple camera devices for acquiring the actual trajectory of the mobile carrier. The display terminal acquires the actual trajectory output by the optical positioning system and compares and displays the estimated trajectory with the actual trajectory. This invention also provides the operating method of the system. This invention can construct a verification system that can be repeatedly verified.

The invention provides an intraoperative dynamic positioning system and method based on a magnetic sensor array and a composite magnetic field, and the system comprises a composite excitation handle which is internally and non-coaxially integrated with a static magnetic source and a dynamic magnetic source, and generates a non-axisymmetric static and dynamic composite magnetic field; the self-adaptive sensing array is provided with a plurality of magnetic sensing nodes and is used for synchronously acquiring magnetic field signals; and the navigation processing terminal is used for processing the signal and resolving the pose. According to the method, static magnetic and dynamic magnetic components are obtained through synchronous acquisition and frequency domain decoupling; the method comprises the following steps: fitting the position and direction of a handle by utilizing a static magnetic component, and solving a rotation angle around a shaft by taking the position and direction as initial values and combining a dynamic magnetic component to realize full six-degree-of-freedom positioning; and finally, obtaining the navigation pose of the instrument tip through filtering mapping. According to the invention, full-attitude, high-precision and strong-interference-resistance intraoperative dynamic positioning is realized, and the problems of precision degradation and visual lag of traditional electromagnetic positioning in a metal environment are solved.

The present invention discloses a magnetic beacon and a cross-domain magnetic positioning method based on a swinging permanent magnet type mechanical antenna array, belonging to the technical field of magnetic positioning. The architecture of the magnetic beacon includes a signal generator module, a power amplifier module and a magnetic beacon antenna. The magnetic beacon antenna is composed of four swinging permanent magnet type mechanical antenna arrays with orthogonal cross structures. Each swinging permanent magnet type mechanical antenna with an orthogonal cross structure is composed of two groups of swinging permanent magnet type mechanical antenna units with different resonant frequencies. The positioning method of the present invention includes constructing a magnetic field distribution model of the magnetic beacon; obtaining the magnetic field information of the detection point based on a three-axis magnetic sensor; determining a fitness function, and using a particle swarm algorithm to solve the position of the magnetic source. The magnetic beacon proposed by the present invention has a compact structure and low power consumption. At the same time, the pose of the magnetic beacon can be solved by using a single three-axis magnetic sensor for one measurement at a single position, greatly simplifying the operation and contributing to the actual magnetic positioning application.

A rotary machine has a stator (13) and a rotatably mounted rotor (11), wherein one or more magnetic field sensors (12) are fixedly arranged at a radial distance with respect to the stator (13) from an axis (20) fixed with respect to the stator (13), and at least one measuring device (1) is designed to detect a change in the magnetic field by means of the magnetic field sensors (12), the rotor (11) being designed to generate one or more electrical signals by means of one or more constant magnetic source voltages and one or more of the magnetic field sensors (12), respectively, which have signal components corresponding to the rotor rotation frequency (171) and the respective distance between the magnetic field sensors (12) and the rotor (11), characterized in that a demodulator unit (4) is provided, which is designed to demodulate the signals generated by the magnetic field sensors (12) or derived therefrom, so as to generate signals (140) corresponding to the distance between the rotor (11) and the magnetic field sensors (12) corresponding to the respective signals.

The invention discloses a micro electromagnetic positioning method and system and a storage medium thereof. The method comprises the steps that sine wave currents with specific frequency differences simultaneously pass through three sets of magnetic source micro electromagnetic coils to excite sine wave magnetic fields in three dimensions; acquiring magnetic field data information of the positioning target in the sine wave magnetic field, wherein 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 to obtain independent magnetic field signals of the three groups of magnetic source micro electromagnetic coils at the positioning target; and obtaining 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 different frequencies can be excited at the same time, so that three-dimensional data can be generated by a positioning target, and positioning calculation is facilitated. In addition, a function fitting mode is adopted to assist in positioning calculation, high-frequency noise signals are suppressed and low-frequency background signals are separated at a time, 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.