CN103675719A - Method for determining magnetic induction intensity maximum value by adoption of second-order polynomial curve fitting and implementation system - Google Patents
Method for determining magnetic induction intensity maximum value by adoption of second-order polynomial curve fitting and implementation system Download PDFInfo
- Publication number
- CN103675719A CN103675719A CN201310688641.6A CN201310688641A CN103675719A CN 103675719 A CN103675719 A CN 103675719A CN 201310688641 A CN201310688641 A CN 201310688641A CN 103675719 A CN103675719 A CN 103675719A
- Authority
- CN
- China
- Prior art keywords
- magnetic field
- field source
- magnetic
- data
- magnetic induction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Measuring Magnetic Variables (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention belongs to the technical field of electromagnetic tracking, and particularly provides a method for determining the magnetic induction intensity maximum value by the adoption of second-order polynomial curve fitting and an implementation system. The method includes the steps that a group of magnetic induction intensities generated in the magnetic field source scanning process are collected through a three-axis magnetic sensor; preprocessing such as filtering and interpolating is performed on the values of the group of collected magnetic induction intensities; polynomial curve fitting based on the least square method is performed on preprocessed data; finally the maximum value of fitted curves and the rotation angle of the magnetic field source corresponding to the maximum value are determined. The method can be applied to an electric magnetic tracking system, and the electric magnetic tracking system generally comprises a rotatable magnetic field source unit, a three-axis magnetic sensor unit and a control processing unit. According to the method for determining the magnetic induction intensity maximum value by the adoption of second-order polynomial curve fitting and the implementation system, a second-order polynomial curve fitting method is adopted to detect the position of the maximum value of the magnetic induction intensities, the accuracy for pointing to the magnetic sensor of a rotating magnetic field can be improved, and accordingly the positioning accuracy of the electric magnetic tracking system is improved.
Description
Technical field
The invention belongs to electromagnetic field, be specifically related to the optimization method that a kind of magnetic induction density maximal value of electromagnetic tracking system measures and realize system.
Background technology
Electromagnetism is followed the tracks of (Electromagnetic Tracking), or claims electromagnetic field location, is that a kind of magnetic field or electromagnetic field of utilizing detects the method with real-time follow-up to the locus of tracking target and spatial attitude.The method can be applicable to the navigation of Minimally Invasive Surgery, also can apply to the fields such as virtual (enhancing) reality, 3-D supersonic imaging.Electromagnetic tracking system is generally comprised of Magnetic Field Source (as permanent magnet, magnet coil), magnetic field sensor, controlled processing unit three parts.By Magnetic Field Source, in generation magnetic field, fixed position, then utilize and be attached to the magnetic induction density data that the sensor in tracking target records, solve locus and the attitude of tracking target.
Electromagnetic tracking method based on magnetic field rotating is to catch magnetic induction density maximal value by Magnetic Sensor, determine that the magnetic induction density maximal value sensing that rotary magnetic field source (consisting of solenoid) produces is fixed on the Magnetic Sensor in tracking target, thereby calculate tracking target with respect to position and the attitude of Magnetic Field Source.Therefore, if adopt two Magnetic Field Source that relative distance is known, carry out alternative excitation ground rotary search, and the magnetic induction density maximal value that they are produced is finally pointed to Magnetic Sensor, can obtain the geometric relationship between tracking target and two Magnetic Field Source, non-position and the attitude that calculates iteratively tracking target six degree of freedom.Compare position and the Attitude Algorithm of iteration, noniterative algorithm computing velocity is fast, computing is simple, stable performance, hardware configuration is required low, can overcome iterative algorithm and need to rely on the problem that infinity dipole model, computation complexity are high, easily disperse, exist Local Extremum etc.
Yet, for the above-mentioned electromagnetic tracking system based on rotating magnetic field, due to the noncontinuity of the anglec of rotation (Magnetic Sensor sampling in other words) and the impact of the distortion of field, be difficult to realize the accurate orientation sensor of magnetic induction density maximal value.The non-precision of angle will cause the positional precision of calculating based on angle to decline, and further reduces attitude accuracy.
Summary of the invention
The object of the present invention is to provide and a kind ofly can improve the peaked method of measurement magnetic induction density of the positioning precision based on rotary magnetic field source electromagnetic tracking system and realize system.
The rotary magnetic field source electromagnetic tracking system the present invention relates to, its composition comprises Magnetic Field Source unit, magnetic sensor unit and controlled processing unit three parts.Wherein the peaked any sensing of magnetic induction density can be realized by rotation sweep in Magnetic Field Source unit; This rotation can realize by mechanical system or electronic system.Magnetic sensor unit comprises magnetic sensor, signal conditioning circuit and analog to digital conversion circuit; Wherein magnetic sensor can gather the magnetic induction density value of three orthogonal directionss and by the synthetic mode of vector, obtain the size and Orientation of the magnetic induction density of Magnetic Sensor position; Signal conditioning circuit to the output signal of magnetic sensor amplify, the processing such as filtering; Analog to digital conversion circuit converts the simulating signal of signal conditioning circuit output to digital signal, and sends into controlled processing unit and be further processed.The rotation sweep in controlled processing unit one side controlling magnetic field source also provides suitable exciting current for forming the solenoid of Magnetic Field Source; On the other hand, the data that magnetic sensor unit collected are processed and are carried out curve fitting.
The employing polynomial curve fitting that the present invention proposes is determined the peaked method of magnetic induction density, and concrete steps are:
First, carry out data acquisition, Magnetic Sensor gathers the magnetic induction density data that produce in Magnetic Field Source rotation (be called scanning, the scope that its scope may occur according to tracking target is definite, and maximum is no more than 360 °) process;
Then, the data that collect are carried out to pre-service, pre-service comprises filtering and interpolation;
Then, to doing the second-order polynomial curve matching based on least square method through pretreated data; Use second order polynomial fitting algorithm based on least square method to estimate the coefficient of fitting function;
Finally, determine the anglec of rotation of the Magnetic Field Source that the maximal value (being maximal value of these group magnetic induction density data) of matched curve and this maximal value are corresponding.
The inventive method can be used for determining based on rotating magnetic field the non-iteration electromagnetic tracking system of tracking target (Magnetic Sensor is fixed in tracking target) six-degree of freedom position and attitude.
In the present invention, described data acquisition is to complete in the process of Magnetic Field Source scanning.Step-length (angle that the refer to each rotation) rotation sweep of Magnetic Field Source to set, the scope that sweep limit may occur according to tracking target is determined, is 360 ° to the maximum.Without loss of generality, suppose that Magnetic Field Source can scan respectively in horizontal and vertical plane, can realize the peaked space of magnetic induction density of Magnetic Field Source generation and point to arbitrarily.
Specifically, magnetic sensor gathers the once magnetic induction density signal of three orthogonal directionss of its locus, place after the angle (step-length) of a setting of the every rotation of Magnetic Field Source, and this signal is stored after analog to digital conversion (ADC); When Magnetic Field Source completes the scanning of a plane, can collect one group of magnetic induction density data; In the situation that Magnetic Field Source sweep limit is certain, the step-length that the data volume of these group data is scanned by Magnetic Field Source determines: step-length is less, and data volume is larger, and acquisition time is longer; Step-length is larger, and data volume is less, and acquisition time is shorter.
In the present invention, described data pre-service comprises filtering and interpolation, in order to eliminate the low-pass filtering of the high-frequency interferencing signal in image data, and linear interpolation large in Magnetic Field Source rotation step-length, while causing data volume not enough.
Owing to including more undesired signal in the one group of magnetic induction density data collecting, need to reduce the impact of disturbing by digital filter.The present invention has designed 22 rank FIR low-pass filters, for eliminating high-frequency electromagnetic, disturbs.Because curve-fitting method needs enough data just can reach good fitting effect, as previously mentioned, the quantity of image data is relevant with the sweep limit of Magnetic Field Source and rotation step-length again; In the situation that sweep limit is certain, step-length is less, and the data that collect are just more; But small step length can cause the decrease in efficiency of data acquisition.The rotation step-length of real system can manually be set.The present invention carries out linear interpolation processing to the data that collect when the Magnetic Field Source rotation step-length of setting is larger.
In the present invention, the magnetic induction density distribution situation that the solenoid of composition Magnetic Field Source produces is as shown in Figure 1 (wherein according to the right side
The definite solenoid axis direction of hand spiral law is the 90o in horizontal ordinate), described polynomial curve fitting is by a quadratic polynomial suc as formula (1), to describe the magnetic induction density distribution curve of Fig. 1:
（1）
Adopt the least square method curve that formula (1) is described and the one group of data fitting collecting in data acquisition step, can estimate three coefficients in formula (1):
and then calculate magnetic induction density maximal value
, when
, and maximal value the maximal value of corresponding magnetic induction density data, and then the anglec of rotation of Magnetic Field Source while obtaining collecting this maximal value.
The polynomial curve fitting based on least square method that the present invention proposes is determined the peaked method of magnetic induction density, for existing and detect inaccurate to magnetic induction density maximal value in the electromagnetic tracking system based on rotating magnetic field, thereby the problem that affects positioning precision is improved: first, Magnetic Sensor is captured in Magnetic Field Source and scans within the specific limits the one group of magnetic induction density data producing in (maximum is no more than 360 °) process; Then these data are carried out the pre-service such as filtering, interpolation (if desired); Finally, adopt least square method that quadratic polynomial and the data that collect are carried out to matching, determine three coefficients in quadratic polynomial, and calculate magnetic induction density maximal value and the corresponding Magnetic Field Source anglec of rotation thereof.What the method can effectively weaken that the noncontinuous sampling of electromagnetic interference (EMI) and magnetic sensor causes can not accurately determine the problem of magnetic induction density maximum value position, promotes the positioning precision of electromagnetic tracking system.
The present invention is by design polynomial curve fitting computing module (comprise pre-service to image data, adopt the determining etc. of the anglec of rotation of the Magnetic Field Source that divalence polynomial curve fitting calculates, the maximal value of matched curve (being maximal value of these group magnetic induction density data) and this maximal value are corresponding of least square method), the method is applied to concrete based on rotary magnetic field source electromagnetic tracking system, positioning precision is significantly improved, can realize the precise positioning of tracking target.
Particularly, corresponding to above-mentioned employing divalence polynomial curve fitting, determine the electromagnetic tracking system based on rotary magnetic field source of the peaked method of magnetic induction density, comprise the rotatable Magnetic Field Source unit of realizing scanning, be fixed in tracking target for gathering the magnetic sensor unit of the magnetic induction density of position, and realize rotation/excitation to Magnetic Field Source and control, the data that magnetic sensor unit is collected carry out pre-service and divalence polynomial curve fitting is calculated, definite etc. controlled processing unit of the anglec of rotation of the Magnetic Field Source that the maximal value of matched curve and this maximal value are corresponding.
Accompanying drawing explanation
The magnetic induction density that Fig. 1 solenoid produces distributes.
Fig. 2 is that second-order polynomial curve approximating method of the present invention can form by applicable electromagnetic tracking system.
Fig. 3 is that second-order polynomial curve approximating method of the present invention can applicable electromagnetic tracking system module map.
Fig. 4 is Magnetic Field Source scanner uni data acquisition.
Fig. 5 is the polynomial curve fitting method implementation procedure based on least square method.
Number in the figure: 10 is Magnetic Field Source unit, 20 is magnetic sensor unit, 30 is controlled processing unit.21 is magnetic sensor, 22 is signal conditioning circuit, 23 is analog to digital conversion (ADC) circuit, 31 is data storage cell, and 32 is controlling of sampling unit, and 33 rotate/encourage control module for Magnetic Field Source, 34 for carrying out filtering and interpolation pretreatment unit, 35 is based on least square method polynomial curve fitting computing unit, and 36 for determining the peaked computing unit of magnetic induction density data, and 37 is the corresponding Magnetic Field Source anglec of rotation of this maximal value computing unit.
Embodiment
Below in conjunction with accompanying drawing, a kind of possible implementation method of the present invention is described further.
Fig. 2 is the composition that the present invention is based on the applicable a kind of electromagnetic tracking system of second-order polynomial curve approximating method of least square method, comprises Magnetic Field Source unit 10, magnetic sensor unit 20 and controlled processing unit 30.Wherein controlled processing unit 30 controlling magnetic field sources 10 are 180 ° of scope interscans; Step-length of the every rotation of Magnetic Field Source 10, magnetic sensor unit 20 gathers magnetic induction density data, and stores data in controlled processing unit 30.
Fig. 3 is the detailed diagram of electromagnetic tracking system.The Magnetic Field Source 10 of the present embodiment is comprised of the coil on bar magnet, bar magnet is fixed on can be on the The Cloud Terrace of two Plane Rotations of horizontal and vertical, the rotation of 33 control The Cloud Terraces is controlled in Magnetic Field Source rotation/excitation in controlled processing unit 30, makes bar magnet scan any sensing with implementation space at surface level and vertical plane; This unit is simultaneously also for the coil of Magnetic Field Source 10 provides suitable exciting current.Magnetic sensor unit 20 comprises magnetic sensor 21, signal conditioning circuit 22 and analog to digital conversion (ADC) circuit 23, the magnetic induction density of magnetic sensor 21 three orthogonal directionss in locus, detecting sensor place wherein, the signal that 22 pairs of magnetic sensor senses 21 of signal conditioning circuit are known carries out filtering and amplifies and process, finally by ADC 23, the simulating signal of signal conditioning circuit 22 outputs be converted to digital signal and deliver to data storage cell 31 storages, and complete after single pass in controlling magnetic field source, to being stored in one group of data of data storage cell 31, carry out the pre-service 34 such as filtering and interpolation, and on this basis by determine maximal value 36 and the corresponding Magnetic Field Source anglec of rotation 37 of this maximal value of these group magnetic induction density data based on least square method second-order polynomial curve matching 35.
Fig. 4 is Magnetic Field Source scanner uni data acquisition.First controlled processing unit 30 is reset to initial position (now bar magnet points to regulation for zero degree) 41 by bar magnet 10, then controlled processing unit 30 is controlled bar magnets 10 and is produced magnetic fields in step-length 42 of surface level rotation and with 1A pulse current excitation field source coil 10, and magnetic sensor 21 gathers the magnetic induction density of positions and data are stored in data storage 31 to 43; Judged whether that surface level scanning 44(Magnetic Field Source sweep limit should be definite according to the possible scope of activities of tracking target, the present embodiment Magnetic Field Source sweep limit is decided to be 180 °), if complete scanning, do not repeat said process, otherwise complete one group of data acquisition 45 and carry out follow-up data pre-service and polynomial curve fitting, determining magnetic induction density maximal value and the corresponding Magnetic Field Source anglec of rotation thereof of these group data.Afterwards bar magnet is rotated on surface level to the direction that maximum magnetic induction detected to magnetic sensor, then on vertical plane, carry out the data acquisition identical with surface level.
Fig. 5 is polynomial curve fitting process.First, collect one group of data 51 is carried out to the pre-service such as filtering 52 and interpolation 54 in data acquisition.The frequency of the magnetic induction density signal producing due to Magnetic Field Source in the present embodiment is below 1000Hz, and the present invention has designed a kind of 22 rank FIR low-pass filters, the undesired signal of rejection frequency more than 1.4KHz.Afterwards, what judge whether data volumes of this group data meet curve requires 53, if data volume is few (in the present embodiment, when Magnetic Field Source scanning step is over 1 °, sampled data output is few) need between adjacent two data, carry out linear interpolation, and carry out curve fitting after interpolation; Otherwise directly carry out curve fitting.Curve of the present invention adopts least square method the second order polynomial function that formula (1) is described and the one group of data fitting 55 collecting in data acquisition step, can estimate three coefficients in formula (1):
and then calculate the maximal value of this curve
, when
and the maximal value 56 of the corresponding one group of image data of maximal value, and then determine the step number (not necessarily integer) that Magnetic Field Source is rotated when magnetic sensor 21 detects this maximal value, can obtain accordingly Magnetic Field Source the detects maximal value anglec of rotation 57 from initial position to magnetic sensor.
Claims (2)
1. in a rotary magnetic field source electromagnetic tracking system, adopt second-order polynomial curve matching to determine the peaked method of magnetic induction density, described rotary magnetic field source electromagnetic tracking system, its composition comprises Magnetic Field Source unit, magnetic sensor unit and controlled processing unit three parts; Wherein the peaked any sensing of magnetic induction density is realized by rotation sweep in Magnetic Field Source unit; Magnetic sensor unit comprises magnetic sensor, signal conditioning circuit and analog to digital conversion circuit; The magnetic induction density value of three orthogonal directionss of magnetic sensor collection obtain the size and Orientation of the magnetic induction density of Magnetic Sensor position by the synthetic mode of vector wherein; Signal conditioning circuit to the output signal of magnetic sensor amplify, the processing such as filtering; Analog to digital conversion circuit converts the simulating signal of signal conditioning circuit output to digital signal, and sends into controlled processing unit and be further processed; The rotation sweep in controlled processing unit one side controlling magnetic field source also provides suitable exciting current for forming the solenoid of Magnetic Field Source; On the other hand, the data that magnetic sensor unit collected are processed and are carried out curve fitting;
It is characterized in that determining that the peaked concrete steps of magnetic induction density are as follows:
(1) first, data acquisition;
(2) then, the data that collect are carried out to pre-service, pre-service comprises low-pass filtering and interpolation;
(3) then, to doing the second-order polynomial curve matching based on least square method through pretreated data;
(4) last, the maximal value of determining matched curve is the anglec of rotation of Magnetic Field Source corresponding to the maximal value of these group magnetic induction density data and this maximal value;
The described data acquisition of step () is to complete in the process of Magnetic Field Source scanning; The step-length rotation sweep of Magnetic Field Source to set, the scope that sweep limit may occur according to tracking target is determined, is 360 ° to the maximum;
Magnetic sensor gathers the once magnetic induction density signal of three orthogonal directionss of its locus, place after step-length of the every rotation of Magnetic Field Source, and this signal is stored after analog to digital conversion; When Magnetic Field Source completes the scanning of a plane, can collect one group of magnetic induction density data;
The data pre-service that step (two) is described, comprises in order to eliminate the low-pass filtering of the high-frequency interferencing signal in image data, and larger in Magnetic Field Source rotation step-length, the linear interpolation while causing data volume not enough;
Described low-pass filtering adopts a kind of 22 rank FIR low-pass filters, and the frequency band range of the magnetic induction density signal that the cutoff frequency of wave filter produces according to Magnetic Field Source is determined;
Described linear interpolation is inserted the data that a size is this two data mean value between adjacent two data;
The second-order polynomial curve matching based on least square method that step (three) is described is by the second order polynomial being shown below:
Carry out matching with the one group of data collecting, the process of matching is coefficient a, b, the c that the principle based on least square is determined this second order polynomial; So just the variation of the one group of data gathering can be described by the second order polynomial of this parameter identification;
Definite magnetic induction density maximal value that step (four) is described, determines on the basis of second order polynomial coefficient by curve in step (three) exactly, asks for the maximal value of this second order polynomial, exists
time, the maximal value of this second order polynomial is
;
Determining on the peaked basis of second order polynomial, can find the corresponding sampled data of this maximal value or data interpolating, and the corresponding Magnetic Field Source anglec of rotation of these data.
2. the electromagnetic tracking system based on rotary magnetic field source corresponding to method described in claim 1, it is characterized in that comprising the rotatable Magnetic Field Source unit of realizing scanning, be fixed in tracking target for gathering the magnetic sensor unit of the magnetic induction density of position, and realize that rotation/excitation is controlled, magnetic sensor unit is collected to Magnetic Field Source data are carried out pre-service and divalence polynomial curve fitting calculates, definite controlled processing unit of the anglec of rotation of the maximal value of matched curve and Magnetic Field Source corresponding to this maximal value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310688641.6A CN103675719A (en) | 2013-12-17 | 2013-12-17 | Method for determining magnetic induction intensity maximum value by adoption of second-order polynomial curve fitting and implementation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310688641.6A CN103675719A (en) | 2013-12-17 | 2013-12-17 | Method for determining magnetic induction intensity maximum value by adoption of second-order polynomial curve fitting and implementation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103675719A true CN103675719A (en) | 2014-03-26 |
Family
ID=50313872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310688641.6A Pending CN103675719A (en) | 2013-12-17 | 2013-12-17 | Method for determining magnetic induction intensity maximum value by adoption of second-order polynomial curve fitting and implementation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103675719A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114675226A (en) * | 2022-03-28 | 2022-06-28 | 北京微纳星空科技有限公司 | Method, system, chip and device for measuring mounting matrix of three-axis magnetometer |
| CN115130379A (en) * | 2022-06-27 | 2022-09-30 | 北京航空航天大学 | Magnet modeling and magnetic field estimation method and device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101053517A (en) * | 2007-05-18 | 2007-10-17 | 深圳先进技术研究院 | Method and system for tracking internal mini device |
| CN101180519A (en) * | 2005-03-23 | 2008-05-14 | 霍尼韦尔国际公司 | Angular position detection utilizing a plurality of rotary configured magnetic sensors |
| CN101361660A (en) * | 2008-05-16 | 2009-02-11 | 深圳先进技术研究院 | Multi-magnetic target positioning method and system |
| CN102274024A (en) * | 2011-05-13 | 2011-12-14 | 复旦大学 | Dual-bar-magnet rotary searching/positioning/tracking system based on microprocessor |
| CN102798827A (en) * | 2012-08-01 | 2012-11-28 | 安泰科技股份有限公司 | Magnet measuring device and magnet measuring method |
| CN103150986A (en) * | 2013-03-20 | 2013-06-12 | 长春希达电子技术有限公司 | Method for collecting and calibrating multiple cameras of LED (Light-Emitting Diode) display screen |
-
2013
- 2013-12-17 CN CN201310688641.6A patent/CN103675719A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101180519A (en) * | 2005-03-23 | 2008-05-14 | 霍尼韦尔国际公司 | Angular position detection utilizing a plurality of rotary configured magnetic sensors |
| CN101053517A (en) * | 2007-05-18 | 2007-10-17 | 深圳先进技术研究院 | Method and system for tracking internal mini device |
| CN101361660A (en) * | 2008-05-16 | 2009-02-11 | 深圳先进技术研究院 | Multi-magnetic target positioning method and system |
| CN102274024A (en) * | 2011-05-13 | 2011-12-14 | 复旦大学 | Dual-bar-magnet rotary searching/positioning/tracking system based on microprocessor |
| CN102798827A (en) * | 2012-08-01 | 2012-11-28 | 安泰科技股份有限公司 | Magnet measuring device and magnet measuring method |
| CN103150986A (en) * | 2013-03-20 | 2013-06-12 | 长春希达电子技术有限公司 | Method for collecting and calibrating multiple cameras of LED (Light-Emitting Diode) display screen |
Non-Patent Citations (1)
| Title |
|---|
| 丁宁 等: "基于DSP的双磁棒旋转搜索电磁定位跟踪系统设计", 《航天医学与医学工程》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114675226A (en) * | 2022-03-28 | 2022-06-28 | 北京微纳星空科技有限公司 | Method, system, chip and device for measuring mounting matrix of three-axis magnetometer |
| CN114675226B (en) * | 2022-03-28 | 2023-01-24 | 北京微纳星空科技有限公司 | Method, system, chip and device for measuring mounting matrix of three-axis magnetometer |
| CN115130379A (en) * | 2022-06-27 | 2022-09-30 | 北京航空航天大学 | Magnet modeling and magnetic field estimation method and device |
| CN115130379B (en) * | 2022-06-27 | 2024-05-24 | 北京航空航天大学 | Magnet modeling and magnetic field estimation method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103675718A (en) | Method for determining magnetic induction intensity maximum value through cosine function curve fitting and realizing system | |
| CN107038717B (en) | A method of 3D point cloud registration error is automatically analyzed based on three-dimensional grid | |
| CN101078768B (en) | Electromagnetic tracking using a discretized numerical field model | |
| CN105842694B (en) | A kind of self-focusing method based on FFBP SAR imagings | |
| CN105222772A (en) | A kind of high-precision motion track detection system based on Multi-source Information Fusion | |
| CN102426392B (en) | Electromagnetic tracking method based on quadrature magnetic bar rotation search and system thereof | |
| CN205066775U (en) | High accuracy movement track detection device | |
| CN105203023A (en) | One-stop calibration method for arrangement parameters of vehicle-mounted three-dimensional laser scanning system | |
| CN108662973B (en) | Electromagnetic tracking system and method based on phase discrimination technology | |
| CN109323695A (en) | A kind of indoor orientation method based on adaptive Unscented kalman filtering | |
| CN101852868B (en) | Electromagnetic tracking method and system based on double magnetic bar rotation searching | |
| CN109245486B (en) | Position calculation method of permanent magnet linear motor | |
| CN110516193A (en) | Maneuvering target tracking method based on conversion Rayleigh filter under cartesian coordinate system | |
| CN102274024B (en) | Dual-bar-magnet rotary searching/positioning/tracking system based on microprocessor | |
| CN109143239A (en) | A kind of imaging method of the circumferential synthetic aperture radar based on one-dimensional range profile | |
| CN105388473A (en) | Near-field RCS quick measuring method based on high-resolution imaging | |
| CN103675719A (en) | Method for determining magnetic induction intensity maximum value by adoption of second-order polynomial curve fitting and implementation system | |
| CN113848549B (en) | Radiation source positioning method based on synthetic aperture technology | |
| CN108763158A (en) | Frequency difference combined calculation method and system when a kind of | |
| CN115267718A (en) | 360-degree detection implementation method for panoramic radar based on point cloud splicing | |
| Park et al. | 3D surface reconstruction of terrestrial laser scanner data for forestry | |
| CN105203096B (en) | Rotating excitation field fast tracking method and system based on 4 points of measurements | |
| CN111208514A (en) | Chebyshev slant range model of curved motion trajectory SAR and Chirp Scaling imaging method | |
| CN112985415B (en) | Indoor positioning method and system | |
| CN106610293B (en) | A kind of indoor orientation method and system based on intensity difference |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140326 |
|
| RJ01 | Rejection of invention patent application after publication |