CN105919595A - System and method for tracking miniature device with magnetic signals in body of moving object - Google Patents

System and method for tracking miniature device with magnetic signals in body of moving object Download PDF

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Publication number
CN105919595A
CN105919595A CN201610326767.2A CN201610326767A CN105919595A CN 105919595 A CN105919595 A CN 105919595A CN 201610326767 A CN201610326767 A CN 201610326767A CN 105919595 A CN105919595 A CN 105919595A
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micro device
target
magnetic
sensor
data
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CN105919595B (en
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胡超
尤晓赫
任宇鹏
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Ningbo Institute of Technology of ZJU
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Ningbo Institute of Technology of ZJU
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/06—Accessories for medical measuring apparatus
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0223—Magnetic field sensors

Abstract

The invention discloses a system and method for tracking a miniature device with magnetic signals in a body of a moving object. The system and the method have the advantages that an external reference coordinate system is built through a reference target with a positioning mark and a three-dimensional camera; positioning data of the miniature device based on a sensor coordinate system is corrected by a reference coordinate system; measurement errors caused by the movement of the miniature device relative to a detection magnetic sensor due to movement, rotation and relative extension and retraction of the moving object can be eliminated; and the positioning precision is improved.

Description

There is in pursuit movement object body the system and method for the micro device of magnetic signal
Technical field
The present invention relates to the tracking technique field of a kind of internal micro device, especially relate to a kind of for pursuit movement thing There is in body body the system and method for the micro device of magnetic signal.
Background technology
In recent years, the target following in moving object body is increasingly paid attention to, as on motion platform object internal object with Track, the tracking etc. of human body vivo devices (such as capsule endoscope).The position of micro device in this kind of moving object body is determined, Owing to light is blocked, it is difficult to the method using optical visual.And it is common to be considered as X-ray examination, CT examination, nuclear-magnetism Shake inspection, 3 D ultrasonographic and magnetic orientation etc..Wherein, X-ray examination, CT examination, nuclear magnetic resonance check, three-D ultrasonic inspection Look into this several method and the two dimension or 3-dimensional image that definition is higher can be provided, but these methods provide image letter Breath, needs the three-dimensional position of micro device in further process calculating just can provide movable body, and can not accurately provide motion The aligning direction of micro device in object body.Simultaneously as these equipment prices of X-ray, CT, nuclear magnetic resonance, NMR, three-D ultrasonic are held high Expensive, and operate complexity, it is impossible to operate for a long time, and people is had side effect, it is desirable that other is more feasible Method.
Magnetic orientation is a kind of reasonably method, not reflects magnetic field and in the case of transmission stop in moving object, magnetic The location of the micro device of property can obtain the highest precision.Little permanent magnet is put by such as United States Patent (USP) 2005/0143648A1 Enter in wireless capsule scope, and two annulus are separately fixed at chest and the waist of human body, two annulus secure 4 respectively Individual Magnetic Sensor, makes Magnetic Sensor fix with the relative position of internal wireless capsule scope, detect capsule endoscope position and Direction.But this tracking needs to arrange fixing sensor mechanism, when micro device in moving object body is positioned, meeting Interfere because of moving of moving object, it is difficult to ensure tracking accuracy.
Summary of the invention
The technical problem to be solved is to provide a kind of has the miniature of magnetic signal in pursuit movement body body The system of device, by means of the correction of external infrared mark stereoscopic vision location, eliminate due to moving object move, rotate, The micro device caused with relative telescopic is relative to moving of detecting Magnetic Sensor and the measurement error brought.
The present invention solves the technical scheme that above-mentioned technical problem used: a kind of have magnetic in pursuit movement body body The system of the micro device of signal, including the wear being relatively fixed on movable body, described wear is provided with for sensing The array of magnetic sensors of the magnetic signal that measured target micro device sends in movable body body；
Data acquisition instrument, for the information gathered and pretreatment array of magnetic sensors sends；
With the data being connected with data acquisition instrument process and display centre, the information meter transmitted according to data acquisition instrument Calculate the micro device location data at different time, then set up according to location data and show the movement locus of micro device, Described location data include space coordinates and directioin parameter；
At least two also including being arranged on movable body body surface has the reference target of witness marker, is used for correcting miniature Put the error that location data are brought owing to movable body moves；
Infrared binocular or multi-eye stereo camera, for shooting space coordinates and the directioin parameter of reference target；
Described stereoscopic camera processes with data and is connected with display centre；
Described data process space coordinates and the direction of the reference target obtained with display centre according to stereoscopic camera shooting The location data calculating the micro device obtained are corrected by parameter.
Wherein, the witness marker of described reference target be 4 have particular spatial location relation and formed direction point to Infrared mark ball.
As preferably, described miniature being equipped with multiple, wherein the micro device of relative motion body motion is measured target, phase It is auxiliary reference target to the micro device that movable body is static；The process of described data and display centre include many mesh of stereoscopic vision Mark localization computation unit；Described Multi-target position computing unit according to measured target relative to the movement locus of auxiliary reference target, Measured target is carried out relative localization, it is thus achieved that the correction location data of measured target.
Compared with prior art, it is an advantage of the current invention that the reference target by having witness marker and stereoscopic camera are built Found external reference frame, reference frame location based on sensor coordinate system for micro device data repaiied Just, it is possible to eliminate owing to movable body moves, rotates the micro device caused with relative telescopic relative to moving of detecting Magnetic Sensor And the measurement error brought.
Another technical problem to be solved by this invention is to provide a kind of has magnetic signal in pursuit movement body body The method of micro device, by means of the correction of external reference frame based on stereoscopic vision, eliminate due to movable body move, Rotate the measurement error that the micro device that causes with relative telescopic brings relative to moving of detecting Magnetic Sensor.
The concrete technical scheme of this method is: the side of a kind of micro device in pursuit movement body body with magnetic signal Method, including step in detail below:
S1 builds sensor coordinate system with array of magnetic sensors certain point for standard, obtains each magnetic on array of magnetic sensors and passes Locus residing for sensor, and gather measured target micro device and act on the magnetic induction number at described each Magnetic Sensor According to；
S2 utilizes the magnetic induction data at each Magnetic Sensor that step S1 collects, and it is miniature to describe magnetic signal The dipole model of magnetic put, defines magnetic field and the error target function of model that under sensor coordinate system, micro device is formed；
S3 utilizes nonlinear optimization algorithm to find the space coordinates of described micro device, and making described error target function is Little, the space coordinates of the most described micro device and directioin parameter are the location data of micro device；
Further comprising the steps of: S4 is fixed on the infrared of the reference target of movable body body surface based on the shooting of infrared stereoscopic camera Mark ball, it is thus achieved that the space coordinates of reference target and directioin parameter, then according to space coordinates and the direction ginseng of reference target The error that the location data of number correction micro device are brought owing to movable body moves, it is thus achieved that the location number of the micro device after correction According to；
S5 location data based on the micro device after correction, set up and show the movement locus of micro device.
Wherein, the error target function described in step S2 is three error function component sums, three error function components It is respectivelyWith
E ‾ X = Σ l = 1 N { B l x - B T [ 3 [ m ( x l - a ) + n ( y l - b ) + p ( z l - c ) ] · ( x l - a ) R l 5 - m R l 3 ] } 2 ;
E ‾ Y = Σ l = 1 N { B l y - B T [ 3 [ m ( x l - a ) + n ( y l - b ) + p ( z l - c ) ] · ( y l - a ) R l 5 - n R l 3 ] } 2 ;
E ‾ Z = Σ l = 1 N { B l z - B T [ 3 [ m ( x l - a ) + n ( y l - b ) + p ( z l - c ) ] · ( x l - a ) R l 5 - p R l 3 ] } 2 ;
Blx、BlyAnd BlzIt is three orthogonal magnetic induction component measurement values in magnetic field, the l Magnetic Sensor position； A, b, c are the space coordinate parameters of micro device；M, n, p are the directioin parameter of micro device；xl、yl、zlIt is the l magnetic sensing The space coordinates component of device；N represents the Magnetic Sensor quantity in array of magnetic sensors；BTMagnet constant for micro device；RlFor The l Magnetic Sensor to the distance of micro device inner magnet,
The concrete measure of step S4 is as follows:
S4.1 is by demarcating, and the reference frame setting up the conjunction of infrared mark set of balls is consistent with sensor coordinate system；Calculate fortune The space coordinates of two reference targets of kinetoplast body surface and directioin parameter；Obtain new reference frame, and select new with reference to sitting Three reference coordinate axles of mark system are:
eX'=H1=(mX',nX',pX')=(m1,n1,p1)；
e Z ′ = ( m Z ′ , n Z ′ , p Z ′ ) = H 1 × H 2 /| H 1 × H 2 | = ( n 1 p 2 - n 2 p 1 ) e X + ( p 1 m 2 - p 2 m 1 ) e Y + ( m 1 n 2 - m 2 n 1 ) e Z ( n 1 p 2 - n 2 p 1 ) 2 + ( p 1 m 2 - p 2 m 1 ) 2 + ( m 1 n 2 - m 2 n 1 ) 2 ;
eY'=(mY',nY',pY')=eX'×eZ'；
Wherein, eX'For X' axle unit vector under reference frame；H1=(m1,n1,p1) it is that first reference target is in sensing Direction vector under device coordinate system；mX',nX',pX' for X ' axle unit vector under reference frame under sensor coordinate system point Amount；eZ'For Z' axle unit vector under reference frame；mZ',nZ',pZ' for Z' axle unit vector under reference frame at sensor Component under coordinate system；H2=(m2,n2,p2) it is second reference target direction vector under sensor coordinate system；eXFor passing X-axis unit vector under sensor coordinate system；eYFor Y-axis unit vector under sensor coordinate system；eZFor Z axis list under sensor coordinate system Bit vector；eY'For Y' axle unit vector under reference frame；mY',nY',pY' passing for Y' axle unit vector under reference frame Component under sensor coordinate system；
S4.2 sets up the transition matrix R of sensor coordinate system and reference frame,
S4.3 carries out Coordinate Conversion to micro device:
P'=R-1(P-ΔP)
Wherein, P' is the space coordinates of internal measured target, R after Coordinate Conversion-1Being the inverse matrix of R, P is sensor coordinates The space coordinates of internal measured target under system, Δ P is that sensor coordinate system initial point points to reference frame initial point (optional first Reference target center) vector.
As improvement, described miniature be equipped with multiple, wherein relative motion body motion micro device be set to measured target, The micro device that relative motion body is static is set to auxiliary reference target；Described data process the Multi-target position meter with display centre Calculation unit calculating measured target, relative to the movement locus of auxiliary reference target, carries out relative localization to measured target, revises tested The location data that target step S3 obtains；The location of step S4 is carried out based on the correction location data of the measured target obtained Data correction, thus reduce the movable body interference impact on location.
After the location data correction of measured target, also include: analyze the reasonability of each micro device location data, reject Then each micro device location data are processed with complex optimum fitting algorithm, obtain each by the unreasonable data that error is big The positioning and directing result of micro device.The improper location letter of micro device can be determined by the movement of auxiliary reference target Breath, after the improper location information eliminating micro device, can make the miniature of measured target by complex optimum fitting algorithm The location of device is the most accurate, provides for follow-up Coordinate Conversion and positions data more accurately.
Advantage of this approach is that the reference target by having witness marker and stereoscopic camera establish external reference Coordinate system, is modified by reference frame location based on sensor coordinate system for micro device data, it is possible to eliminate by Move in movable body, rotate the micro device that causes with relative telescopic relative to moving of detecting Magnetic Sensor and the measurement brought Error, improves setting accuracy.
Accompanying drawing explanation
Fig. 1 is the system principle diagram of the present invention.
Fig. 2 is the one of which structure chart of reference target of the present invention infrared mark ball.
Fig. 3 is the another kind of structure chart of reference target of the present invention infrared mark ball.
Fig. 4 is the Magnetic Sensor display schematic diagram of the present invention.
Fig. 5 is the magnetic dipole location schematic diagram of the present invention.
Fig. 6 is the infrared stereoscopic camera schematic diagram of the present invention.
Fig. 7 is the reference frame foundation figure of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.
What this preferred embodiment was illustrated in figure 1 a kind of micro device in pursuit movement body body with magnetic signal is System, including the wear being relatively fixed on movable body, described wear is provided with measured target in paratonic movement body body The array of magnetic sensors of the magnetic signal that micro device sends, as shown in Figure 4；
Data acquisition instrument, for the information gathered and pretreatment array of magnetic sensors sends；
With the data being connected with data acquisition instrument process and display centre, the information meter transmitted according to data acquisition instrument Calculate the micro device location data at different time, then set up according to location data and show the movement locus of micro device, Described location data include space coordinates and directioin parameter；
At least two also including being arranged on movable body body surface has the reference target of witness marker, is used for correcting miniature Put the error that location data are brought owing to movable body moves；
Infrared binocular or multi-eye stereo camera, for shooting space coordinates and the directioin parameter of reference target, such as Fig. 6 institute Show；
Described stereoscopic camera processes with data and is connected with display centre；
Described data process space coordinates and the direction of the reference target obtained with display centre according to stereoscopic camera shooting The location data calculating the measured target micro device obtained are corrected by parameter.
Wherein, the witness marker of described reference target be 4 have particular spatial location relation and formed direction point to Infrared mark ball, as shown in Figures 2 and 3, the relative position of four infrared mark balls remains constant, the tetrahedron of they compositions Centroid position be the position of reference target.
As preferably, described miniature being equipped with multiple, wherein the micro device of relative motion body motion is measured target, phase It is auxiliary reference target to the micro device that movable body is static；The process of described data and display centre include many mesh of stereoscopic vision Mark localization computation unit；Described Multi-target position computing unit according to measured target relative to the movement locus of auxiliary reference target, Measured target is carried out relative localization, it is thus achieved that the correction location data of measured target.
Tracking based on said system location micro device, specific as follows:
S1 builds sensor coordinate system with array of magnetic sensors certain point for standard, obtains each magnetic on array of magnetic sensors and passes Locus residing for sensor, and gather measured target micro device and act on the magnetic induction number at described each Magnetic Sensor According to；
S2 utilizes the magnetic induction data at each Magnetic Sensor that step S1 collects, and it is miniature to describe magnetic signal The dipole model of magnetic put, defines magnetic field and the error target function of model that under sensor coordinate system, micro device is formed；
S3 utilizes nonlinear optimization algorithm to find the space coordinates of described micro device, and making described error target function is Little, the space coordinates of the most described micro device and directioin parameter are the location data of micro device；
S4 is fixed on the infrared mark ball of reference target of movable body body surface based on the shooting of infrared stereoscopic camera, it is thus achieved that ginseng Examining space coordinates and the directioin parameter of target, then space coordinates and directioin parameter according to reference target correct micro device The error that location data are brought owing to movable body moves, it is thus achieved that the location data of the micro device after correction；
S5 location data based on the micro device after correction, set up and show the movement locus of micro device.
S1～S3 uses prior art, a kind of referring specifically to the Chinese invention patent that Authorization Notice No. is CN100594840C The method of tracking internal mini device.In the present embodiment, Magnetic Sensor displays as shown in Figure 4, and sensor is sat in step sl Mark system construction step is as follows:
A01, location region in specify that at least one spatial point is as check point；
A02, by one demarcate magnet as determining that direction is placed on check point described in, test in described array of magnetic sensors The magnetic induction data of each Magnetic Sensor, and strong with the magnetic field at the biot savart's law described each sensor of calculating Degree；
A03, each Magnetic Sensor of comparison calculate the magnetic field intensity obtained and measure the magnetic induction data obtained, and obtain one Error score；
A04, repetition step A02 and A03, obtain the described demarcation magnet error score when each check point, and obtain one Error amount, described error amount is described each error score sum；
A05, adjust the sensitivity of described Magnetic Sensor, position and directioin parameter scaling parameter, make described error amount for Little, now, the sensitivity of described Magnetic Sensor, position and direction are the calibrating parameters of Magnetic Sensor.
In step S2, magnetic dipole positions as it is shown in figure 5, its model is: Wherein,Represent the magnetic induction of l Magnetic Sensor, BTFor the magnet constant of micro device,Representative sensor institute At magnetic direction,Represent the position of l Magnetic Sensor, RlRepresent the l Magnetic Sensor to micro device inner magnet away from From；
Error target function is three error function componentsAndSum, is respectively as follows:
E ‾ X = Σ l = 1 N { B l x - B T [ 3 [ m ( x l - a ) + n ( y l - b ) + p ( z l - c ) ] · ( x l - a ) R l 5 - m R l 3 ] } 2 ;
E ‾ Y = Σ l = 1 N { B l y - B T [ 3 [ m ( x l - a ) + n ( y l - b ) + p ( z l - c ) ] · ( y l - a ) R l 5 - n R l 3 ] } 2 ;
E ‾ Z = Σ l = 1 N { B l z - B T [ 3 [ m ( x l - a ) + n ( y l - b ) + p ( z l - c ) ] · ( x l - a ) R l 5 - p R l 3 ] } 2 ;
Wherein, Blx、BlyAnd BlzIt is three orthogonal magnetic induction component measurements in magnetic field, the l Magnetic Sensor position Value, a, b, c are the space coordinate parameters of micro device；M, n, p are the directioin parameter of micro device；xl、yl、zlIt is the l Magnetic Sensor Space coordinates component；N represents the Magnetic Sensor quantity in array of magnetic sensors；
Nonlinear optimization algorithm in step S3 uses Levenberg-Marquardt algorithm.
Step S4 is specific as follows:
S4.1 is by demarcating, and the reference frame setting up the conjunction of infrared mark set of balls is consistent with sensor coordinate system；Calculate fortune The space coordinates of two reference targets of kinetoplast body surface and directioin parameter.Obtain new reference frame, and select new with reference to sitting Three reference coordinate axles of mark system are:
eX'=H1=(mX',nX',pX')=(m1,n1,p1)；
e Z ′ = ( m Z ′ , n Z ′ , p Z ′ ) = H 1 × H 2 /| H 1 × H 2 | = ( n 1 p 2 - n 2 p 1 ) e X + ( p 1 m 2 - p 2 m 1 ) e Y + ( m 1 n 2 - m 2 n 1 ) e Z ( n 1 p 2 - n 2 p 1 ) 2 + ( p 1 m 2 - p 2 m 1 ) 2 + ( m 1 n 2 - m 2 n 1 ) 2 ;
eY'=(mY',nY',pY')=eX'×eZ'；
Wherein, eX'For X' axle unit vector under reference frame；H1=(m1,n1,p1) it is that first reference target is in sensing Direction vector under device coordinate system；mX',nX',pX' for X' axle unit vector under reference frame under sensor coordinate system point Amount；eZ'For Z' axle unit vector under reference frame；mZ',nZ',pZ' for Z' axle unit vector under reference frame at sensor Component under coordinate system；H2=(m2,n2,p2) it is second reference target direction vector under sensor coordinate system；eXFor passing X-axis unit vector under sensor coordinate system；eYFor Y-axis unit vector under sensor coordinate system；eZFor Z axis list under sensor coordinate system Bit vector；eY'For Y' axle unit vector under reference frame；mY',nY',pY' passing for Y' axle unit vector under reference frame Component under sensor coordinate system；
S4.2 sets up the transition matrix R of sensor coordinate system and reference frame,
S4.3 carries out Coordinate Conversion to micro device:
P'=R-1(P-ΔP)
Wherein, P' is the space coordinates of internal measured target, R after Coordinate Conversion-1Being the inverse matrix of R, P is sensor coordinates The space coordinates of internal measured target under system, Δ P is the vector that sensor coordinate system initial point points to reference frame initial point.Reference Optional first the reference target center of coordinate origin.
As improvement, described miniature be equipped with multiple, wherein relative motion body motion micro device be set to measured target, The micro device that relative motion body is static can be set to auxiliary reference target (also may replace infrared reference target)；Described data process The measured target movement locus relative to auxiliary reference target is calculated, to tested mesh with the Multi-target position computing unit of display centre Mark carries out relative localization, revises the location data that measured target step S3 obtains；The correction location number of the measured target to obtain Carry out the gps correction data of step S4 based on according to, thus reduce the movable body interference impact on location.
After the location data correction of measured target, also include: analyze the reasonability of each micro device location data, reject Then each micro device location data are processed with complex optimum fitting algorithm, obtain each by the unreasonable data that error is big The positioning and directing result of micro device；Using positioning and directing result as the historical data calculated next time, circulate successively, it is achieved real Time follow the tracks of.The improper location information of measured target can be determined by the movement of auxiliary reference target, eliminating measured target Improper location information after, the location data of measured target micro device can be made more to be as the criterion by complex optimum fitting algorithm Really.
In the present embodiment, micro device uses permanent magnet as magnetic signal source, and permanent magnet is cylinder or annulus；Described Magnetic Sensor is the magnetic field sensor of uniaxially or biaxially or three axles.

Claims (8)

1. there is in pursuit movement body body a system for the micro device of magnetic signal, including being relatively fixed on movable body Wear, described wear be provided with the magnetic signal that measured target micro device sends in paratonic movement body body magnetic pass Sensor array；
Data acquisition instrument, for the information gathered and pretreatment array of magnetic sensors sends；
With the data being connected with data acquisition instrument process and display centre, calculate micro-according to the information that data acquisition instrument transmits The movement locus of micro device is set up and shown to type device, in the location data of different time, then according to location data, described Location data include space coordinates and directioin parameter；
It is characterized in that: at least two also including being arranged on movable body body surface has the reference target of witness marker, for school The error that positive micro device location data are brought owing to movable body moves；
Infrared binocular or multi-eye stereo camera, for shooting space coordinates and the directioin parameter of reference target；
Described stereoscopic camera processes with data and is connected with display centre；
Described data process space coordinates and the directioin parameter of the reference target obtained with display centre according to stereoscopic camera shooting The location data calculating the micro device obtained are corrected.
The system of the micro device in pursuit movement body body with magnetic signal the most according to claim 1, its feature It is: the witness marker of described reference target is 4 to be had particular spatial location relation and forms the infrared mark that direction is pointed to Ball.
The system of the micro device in pursuit movement body body with magnetic signal the most according to claim 1, its feature Be: described miniature be equipped with multiple, wherein relative motion body motion micro device be measured target, relative motion body is static Micro device be auxiliary reference target；Described data process and include that the Multi-target position of stereoscopic vision calculates list with display centre Unit；Measured target relative to the movement locus of auxiliary reference target, is entered by described Multi-target position computing unit according to measured target Row relative localization, it is thus achieved that the correction location data of measured target.
4. a method in pursuit movement body body with the micro device of magnetic signal, including step in detail below:
S1 builds sensor coordinate system with array of magnetic sensors certain point for standard, obtains each Magnetic Sensor on array of magnetic sensors Residing locus, and gather measured target micro device and act on the magnetic induction data at described each Magnetic Sensor；
S2 utilizes the magnetic induction data at each Magnetic Sensor that step S1 collects, and describes magnetic signal micro device Dipole model of magnetic, defines magnetic field and the error target function of model that under sensor coordinate system, micro device is formed；
S3 utilizes nonlinear optimization algorithm to find the space coordinates of described micro device, and making described error target function is minimum, The space coordinates of the most described micro device and directioin parameter are the location data of micro device；
It is characterized in that, further comprising the steps of:
S4 is fixed on the infrared mark ball of reference target of movable body body surface based on the shooting of infrared stereoscopic camera, it is thus achieved that reference mesh Target space coordinates and directioin parameter, then according to space coordinates and the location of directioin parameter correction micro device of reference target The error that data are brought owing to movable body moves, it is thus achieved that the location data of the micro device after correction；
S5 location data based on the micro device after correction, set up and show the movement locus of micro device.
The method of the micro device in pursuit movement body body with magnetic signal the most according to claim 4, its feature Being: the error target function described in step S2 is three error function component sums, three error function components are respectivelyWithWherein,
E ‾ X = Σ l = 1 N { B l x - B T [ 3 [ m ( x l - a ) + n ( y l - b ) + p ( z l - c ) ] · ( x l - a ) R l 5 - m R l 3 ] } 2 ;
E ‾ Y = Σ l = 1 N { B l y - B T [ 3 [ m ( x l - a ) + n ( y l - b ) + p ( z l - c ) ] · ( y l - a ) R l 5 - n R l 3 ] } 2 ;
E ‾ Z = Σ l = 1 N { B l z - B T [ 3 [ m ( x l - a ) + n ( y l - b ) + p ( z l - c ) ] · ( x l - a ) R l 5 - p R l 3 ] } 2 ;
Blx、BlyAnd BlzIt is three orthogonal magnetic induction component measurement values in magnetic field, the l Magnetic Sensor position；a、b、c Space coordinate parameters for micro device；M, n, p are the directioin parameter of micro device；xl、yl、zlIt it is the sky of l Magnetic Sensor Between coordinate components；N represents the Magnetic Sensor quantity in array of magnetic sensors；BTMagnet constant for micro device；RlIt it is l Magnetic Sensor to the distance of micro device inner magnet,
The method of the micro device in pursuit movement body body with magnetic signal the most according to claim 5, its feature It is: step S4 is specific as follows:
S4.1 is by demarcating, and the reference frame setting up the conjunction of infrared mark set of balls is consistent with sensor coordinate system；Calculate movable body The space coordinates of two reference targets of body surface and directioin parameter；Obtain reference frame, and select the new reference coordinate axle to be:
eX′=H1=(mX',nX',pX')=(m1,n1,p1)；
e Z ′ = ( m Z ′ , n Z ′ , p Z ′ ) = H 1 × H 2 / | H 1 × H 2 | = ( n 1 p 2 - n 2 p 1 ) e X + ( p 1 m 2 - p 2 m 1 ) e Y + ( m 1 n 2 - m 2 n 1 ) e Z ( n 1 p 2 - n 2 p 1 ) 2 + ( p 1 m 2 - p 2 m 1 ) 2 + ( m 1 n 2 - m 2 n 1 ) 2 ;
eY′=(mY',nY',pY')=eX′×eZ′；
Wherein, eX′For X' axle unit vector under reference frame；H1=(m1,n1,p1) it is that first reference target is sat at sensor Direction vector under mark system；mX',nX',pX' for X' axle unit vector component under sensor coordinate system under reference frame； eZ′For Z' axle unit vector under reference frame；mZ',nZ',pZ' for Z' axle unit vector under reference frame at sensor coordinates Component under Xi；H2=(m2,n2,p2) it is second reference target direction vector under sensor coordinate system；eXFor sensor X-axis unit vector under coordinate system；eYFor Y-axis unit vector under sensor coordinate system；eZFor Z axis unit under sensor coordinate system to Amount；eY′For Y' axle unit vector under reference frame；mY',nY',pY' for Y' axle unit vector under reference frame at sensor Component under coordinate system；
S4.2 sets up the transition matrix R of sensor coordinate system and reference frame,
S4.3 carries out Coordinate Conversion to micro device:
P'=R-1(P-ΔP)
Wherein, P' is the space coordinates of internal measured target, R after Coordinate Conversion-1Being the inverse matrix of R, P is under sensor coordinate system The space coordinates of internal measured target, Δ P is the vector that sensor coordinate system initial point points to reference frame initial point.
The method of the micro device in pursuit movement body body with magnetic signal the most according to claim 5, its feature Be: described miniature be equipped with multiple, wherein relative motion body motion micro device be measured target, relative motion body is static Micro device be auxiliary reference target；Described data process the Multi-target position computing unit with display centre and calculate tested mesh Mark the movement locus of relative auxiliary reference target, measured target is carried out relative localization, revise what measured target step S3 obtained Location data；The gps correction data of step S4 is carried out based on the correction location data of the measured target obtained.
The method of the micro device in pursuit movement body body with magnetic signal the most according to claim 7, its feature It is: after the location data correction of measured target, also include: analyze the reasonability of each micro device location data, reject by mistake Then each micro device location data are processed with complex optimum fitting algorithm, obtain each micro-by the unreasonable data that difference is big The positioning and directing result of type device.
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