Spatial four-point magnetic field positioning method and device based on rotating magnetic dipole

Abstract

The invention relates to a spatial four-point magnetic field positioning method and device based on a rotating magnetic dipole, and the method comprises the steps of: acquiring the magnetic field intensity of a magnetic dipole in an observation coordinate system and the relation between the coordinates of an observation point and the coordinates of a magnetic source of the magnetic dipole in the magnetic source coordinate system through the analysis of the magnetic field distribution of the magnetic dipole in the magnetic source coordinate system and the observation coordinate system; and solving a nonlinear equation by using a Newton iteration method according to the magnetic fields and coordinates of the four points measured in the observation coordinate system so as to realize magneticsource target positioning. Under the condition that magnetic source information is unknown, positioning of a magnetic source target is achieved, the influence of noise is small, and the positioning precision is high.

Description

technical field [0001] The invention relates to the field of magnetic field positioning, in particular to a method and device for positioning a four-point magnetic field in space based on rotating magnetic dipoles. Background technique [0002] The use of magnetic field signals to achieve magnetic target positioning has always been a research hotspot at home and abroad. Magnetic positioning technology is widely used in fields such as medical equipment, geomagnetic matching, military target identification and drilling exploration. Sheinker et al. proposed an indoor positioning method based on the quasi-static magnetic field of the rotating magnetic dipole source, and verified through experiments that the algorithm has high positioning accuracy, small amount of calculation, and strong real-time performance. Christian et al. proposed a magnetic gradient positioning algorithm for robotic capsule endoscopes based on the Jacobian matrix. This algorithm locates the position of the...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the technical problem that the existing magnetic positioning technology is susceptible to environmental noise and geomagnetic interference. In the first aspect of the present invention, it provides a spatial four-point magnetic field positioning method based on rotating magnetic dipoles, including: constructing a magnetic field The source coordinate system and the observation coordinate system, and the magnetic field model of the rotating magnetic dipole; determine the coordinates of the observation point on the magnetic source coordinate system and the magnetic field distribution of the rotating magnetic dipole according to the magnetic source coordinate system and the magnetic field model According to the equivalent relationship between the rotating magnetic dipole in the observation coordinate system and the magnetic source coordinate system and its magnetic field distribution, determine its coordinates with the observation point in the observation coordinate system and the induced magnetic field strength of the observation point in the observation coordinate system The relationship between; Obtain the induced magnetic field intensity and coordinates of the observation point in the observation coordinate system, according to the induction magnetic field intensity and coordinates of the observation point in the observation coordinate system and the rotating magnetic dipole in the observation coordinate system and the magnetic source coordinate system Equivalent relationship, through the Newton iterative method to solve the coordinates of the rotating magnetic dipole in the observation coordinate system

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