CN106403959A - Electromagnetic positioning system adopting multi-sensor array - Google Patents
Electromagnetic positioning system adopting multi-sensor array Download PDFInfo
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- CN106403959A CN106403959A CN201611029028.3A CN201611029028A CN106403959A CN 106403959 A CN106403959 A CN 106403959A CN 201611029028 A CN201611029028 A CN 201611029028A CN 106403959 A CN106403959 A CN 106403959A
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- magnetic field
- sensor
- positioning system
- signal
- multisensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses an electromagnetic positioning system adopting a multi-sensor array, and particularly relates to design of a functional multi-sensor array carrying out spatial orientation information acquiring based on the electromagnetic theory. The electromagnetic positioning system comprises a signal transmitting device, a signal receiving device and a signal processing module. The signal transmitting device generates a needed magnetic field model through a triaxial magnetic source. The signal receiving device carries out positioning measurement on a target through the multi-sensor array, the multi-sensor array is integrated on a cube matrix through magnetoresistive sensors with the number being an integer multiple of three, and two triaxial magnetic sensors are formed and each measure a set of data of target postures. The signal processing module positions the target through a positioning algorithm transplanted to a DSP and a sensor fusion algorithm, the positioning result is corrected according to the geometric position of the multi-sensor array after primary positioning, and finally the positioning tracking result is displayed on a PC through communication with an upper computer.
Description
Technical field
The present invention relates to a kind of electromagnetic positioning system of application multisensor array.
Background technology
Electromagnetic positioning system is widely used in 3D emulation and moving body track aspect, traditional electromagnetic positioning system, by
Limited in number of sensors, simultaneously as environment electromagnetics interference is relatively more, from communication electromagnetism signal, the electromagnetism to electronic product is done
Disturb, including the magnetic interference of the earth, all very big impact is created for electromagnetic measurement and positioning.
While the mode of multisensor array can realize the multimetering for tracked object, by sensor array
The physics of row itself and geometrical property, according to the fusion of multisensor measured data, first estimate the position that each sensor calculates
Put coordinate, then by the fixed position between multisensor and distance, error caused by being interfered for the correction, improve and survey
The precision of amount.
Content of the invention
The invention aims to solving single sensor poor anti jamming capability in traditional electromagnetic positioning system, measurement essence
Spend low shortcoming, there is provided a kind of electromagnetic positioning system of application multisensor array, cannot correct and external electromagnetic interference
In the case of dynamic, in time by the constraints of physical location, realize the correction of space coordinatess.
In order to solve the above problems, the present invention is achieved by the following technical solutions.
A kind of electromagnetic positioning system of application multisensor array, including sender unit, signal receiving device, signal
Processing module；Wherein, described sender unit, using three-axle magnetic field generator architecture, described three-axle magnetic field generator
The multi-source system that structure is made up of three Magnetic Field Source, three Magnetic Field Source according to three direction pairwise orthogonals mode combine.
Compared to single origin system of single Magnetic Field Source, the positioning precision of raising electromagnetic system that can be larger.
Further, described Magnetic Field Source, is to provide sine wave transmission signal by signal generator, drives solenoid,
Produce Distribution of Magnetic Field, calculate the space position parameter of target according to magnetic field distribution model, described solenoid can be according to survey
The size of amount scope, what selection was different pounds number, meets, to reach, the magnetic field intensity requiring.
Compared to DC driven with exchange driving, iron substance in magnetic field, external static magnetic field and whirlpool can be effectively reduced
The interference to measurement for the stream.
Further, described signal receiving device, puts including multisensor array structure, set/reset circuit, signal
Big and filter circuit；Described multisensor array, is the integral multiple magnetoresistive transducer with integrated 3, realizes to target
Positioning and following the trail of, sensor and substrate will be produced on the measurement realizing multisensor in same solid.
Further, described multisensor array, also can adopt with square as matrix with prismatic body as matrix
Version, including two three axle magnetoresistive sensor module taking 6 magnetoresistive transducer arrays as a example；Three described axle magnetic resistance
Sensor assembly, be carry out rearranging three axles according to three mutually orthogonal directions by three magnetoresistive transducers orthogonal
Three-axis sensor, measures the magnetic field intensity of three orthogonal directions, the i.e. magnetic field intensity of x-axis, y-axis, z-axis respectively, altogether records two
The data of group targeted attitude.
Described multisensor array, has advantages below：Expand space-time hunting zone, improve target detectability, change
Enter detection performance；Raising time or the resolution in space, increase the dimension of target feature vector, reduce the uncertainty of information,
The confidence level of improvement information；The fault-tolerant ability of strengthening system and adaptive ability；The thing followed is to reduce the fuzzy journey of reasoning
Degree, improves decision-making capability, so that the performance of whole system greatly improves.
Further, described set/reset circuit adopts AD620 as amplifier, and gain ranging is 1-10000.
When sensor is led to sensing characteristicses to be changed by strong electromagnetic, can be produced by set or reset pulse
The characteristic to recover or to keep sensor for the strong recovery magnetic field of a raw transient state；Described signal amplifies and filter circuit, amplifies
Circuit is to be amplified processing by the signal receiving, and this circuit only needs a non-essential resistance just can set gain, filtered electrical
The bandpass filtering treatment circuit that road is made up of high-pass filtering and low-pass filtering, can effectively reduce the impact of noise signal.
Further, described signal processing module, using ADC on the piece of TMS320F28355DSP to defeated on sensor
The analog signal sampling going out and real-time processing, gather the voltage signal on two three axle magnetoresistive transducers successively, then pass through
The location algorithm being transplanted in DSP and Data Fusion of Sensor algorithm position to target；Lead to finally by with host computer
Letter, location tracking result is shown on PC.
The three-dimensional array structure of employing multisensor of present invention innovation, has an advantage in that：
(1) improve the credibility of information, can more accurately obtain a certain of environment and target using multisensor
Feature or one group of correlated characteristic, compared with the information that the integrated information that whole system is obtained is obtained with any single-sensor,
There is higher precision and reliability.
(2) increased the dimension of target feature vector, each sensor performance is complementary to one another, not phase in the information collected
The feature closed increased, and whole system obtains the unobtainable independent characteristic information of any single sensor, can significantly carry
The performance of high system, makes that multisensor syste is not easily susceptible to the destruction of natural phenomena or the thousand of the external world disturb.
(3) reduce the expense of acquisition information, compared with traditional single sensing system, within the identical time, many
Sensing system is obtained in that more information, thus reducing the expense of acquisition information, this is in the fast mesh of measurement movement velocity
Timestamp is particularly important.
Brief description
Fig. 1 overall construction drawing
Fig. 2 electromagnetic location illustraton of model
Fig. 3 multisensor array structure 1
Fig. 4 multisensor array structure 2
Fig. 5 multisensor array structure 3
Fig. 6 multisensor array structure 4
Fig. 7 multisensor algorithm structure figure
Specific embodiment
Below in conjunction with accompanying drawing, a more detailed description of the present invention is to do with specific embodiment, and is formed with 6 sensors
Solid array illustrate and example.
Fig. 1 is overall construction drawing of the present invention, and the signal generation apparatus being made up of magnetic source produce the magnetic field intensity mould needing
Type, in signal receiving device, multisensor array measures magnetic field intensity, and multiple sensors form two groups of magnetic sensors,
Every group of magnetic sensor records the six-degree-of-freedom posture data of target respectively, signal is carried out just with filter circuit through amplifying
After step is processed, signal is acquired in incoming DSP by ADC in DSP piece, passes through location algorithm and sensor in dsp
Blending algorithm obtains the attitude information of target, and last DSP is communicated with host computer, shows positioning/tracking result on PC.
Fig. 2 is electromagnetic location model, and point O (a, b, c) is the central coordinate of circle of transmitting coil in electromagnetic positioning system, H0(m,
N, p) for magnet direction, then away from transmitting coil center of circle distance for r at target P (x, y, z) magnetic field intensity beWherein BT=μ IR2/ 4 is constant, and μ is the pcrmeability of air, and I is size of current, and R is transmitting
Coil radius, r=(x-a, y-b, z-c) and m2+n2+p2=1；Magnetic field intensity B is decomposed and can get target P (x, y, z) in x-axis,
Y-axis, the magnetic induction component B of three orthogonal directions of z-axisx,By,BzFor：
It is B that target to be measured three orthogonal magnetoresistive transducers of three-axis sensor after rotation record 3 magnetic induction
'x,B'y,B'z, define spin matrix R=Rot (z, γ) Rot (y, β) Rot (x, α), then have：Wherein Rot (x,
It is α) around x-axis anglec of rotation α, Rot (y, β) and Rot (z, γ) are in the same manner；The magnetic strength that transmitting coil produces under the driving of sinusoidal signal
The intensity is answered to beObtained by Faraday law of electromagnetic induction：Its
Middle E is induction electromotive force, and φ is magnetic flux, and the magnetoresistive transducer that thus can get each orthogonal direction of magnetic sensor produces
Voltage magnitude be：Ex=-ω SxB'x、Ey=-ω SyB'y、Ez=-ω SzB'z, wherein Sx、Sy、SzFor three magnetoresistive transducers
Area coil, thus just obtained the six-degree-of-freedom information equation of three magnetoresistive transducer inductive electromagnetic signals and target.
Fig. 3 is the first structure of multisensor array, is made up of 6 magnetoresistive transducers, and being individually placed to a length of side is a
Each planar central of square.Geometric properties are the distances of two magnetic sensors is fixingTwo simultaneously
Between magnetic sensor, the distance of corresponding sensor is a, and respective sensor is parallel to each other.
Fig. 4 is the second structure of multisensor array, is made up of six Magnetic Sensors, and being individually placed to the length of side is that a is square
The midpoint of body phase adjacent side.In approximately the same plane, geometric properties are this two magnetic sensors to two magnetic sensors
Space is distance
Fig. 5 is the third structure of multisensor array, is made up of six Magnetic Sensors, and being individually placed to the length of side is that a is square
The midpoint on each side of body, two magnetic sensors be located at cubical diagonal on, two magnetic sensors of geometric properties
The distance of the initial point of coordinate system is fixing
Fig. 6 is the 4th kind of structure of multisensor array, and from unlike first three structure, this structure is prismatic body, by
Five Magnetic Sensor compositions, two biography receptors are multiplexed a sensor.The geometric properties of two receptors are conllinear, and distance
For a.
No matter four kinds of structures of described multisensor array, adopt several sensors, but purpose is the same it is simply that energy
Enough keep the geometric properties in space, filter result is corrected in other words as the measurement result to system for the priori.
Fig. 7 merges adopted algorithm structure figure by two magnetic sensor measurement data of this multisensor array, is
A kind of multi-sensor data Processing Algorithm being combined based on singular value decomposition and particle filter.Obtained each using particle filter
The state of individual sensor and the estimated value of variance, according to and estimate each sensor state weights.Nonsystematic motion rule
Rule can be modeled as on the basis of discretization state equation and measurement equation：
yk=f (yk-1,Uk,Vk) (1)
Wherein ykIt is the state vector in k moment, UkIt is the input vector of the system in k moment, VkBe average be E [Vk]=0 mistake
Journey noise,It is m-th sensor measured value in the k moment,Be average be E [Wk]=0 measurement noise.It is applied to measurement
During available measured valueEstimate state vector y of each sensork.State for multiple sensors
The estimation that estimated value can be obtained by following formula：
It is the estimated value of the state vector to each sensor of m,It is to be worth to by the estimation of the state of each sensor of N
State vector fusion value,It isWeights, andParticle is adopted to filter the measurement data of each sensor
Ripple algorithm, obtains the estimated value of the state of each sensorAnd its varianceSelect the estimation shape of the minimum sensor of variance
State variable is estimated as the state variable of system；Obtain the preliminary positioning result of target after data fusion, further according to two
The geometric position of individual magnetic sensor is corrected further to result, obtains end product.
Multisensor can more fully help obtain more actual distribution information about operating fields, if especially
Electromagnetic environment is relative complex, has good sensitivity to the interference during measurement in the case that the interference of technology conductor is relatively more
Property.Increase by one group of measurement data, can be good at the distribution in the error real time environment magnetic field of matching measurement.Environment senses to two groups
The impact of device is identical, can eliminate the impact of environment, the capacity of resisting disturbance of strengthening system by algorithm.
The foregoing is only presently preferred embodiments of the present invention, all impartial changes made according to scope of the present invention patent with
Modify, all should belong to the covering scope of the present invention.
Claims (6)
1. a kind of electromagnetic positioning system of application multisensor array, including sender unit, signal receiving device, at signal
Reason module；Wherein, described sender unit, using three-axle magnetic field generator architecture, described three-axle magnetic field generator is tied
The multi-source system that structure is made up of three Magnetic Field Source, three Magnetic Field Source according to three direction pairwise orthogonals mode combine.
2. as claimed in claim 1 a kind of electromagnetic positioning system of application multisensor array it is characterised in that described magnetic
Field source, is to provide sine wave transmission signal by signal generator, drives solenoid, produce Distribution of Magnetic Field, according to Distribution of Magnetic Field
Model calculates the space position parameter of target, and described solenoid can select different pounding according to the size of measurement range
Number, meets, to reach, the magnetic field intensity requiring.
3. as claimed in claim 1 a kind of electromagnetic positioning system of application multisensor array it is characterised in that described letter
Number reception device, amplifies and filter circuit including multisensor array structure, set/reset circuit, signal；Described many sensings
Device array, is the integral multiple magnetoresistive transducer with integrated 3, realizes the positioning to target and tracking, will sensor and base
Part is produced on the measurement realizing multisensor in same solid.
4. as claimed in claim 3 a kind of application multisensor array electromagnetic positioning system it is characterised in that described is many
Sensor array, also can adopt the version with square as matrix with prismatic body as matrix, with 6 magnetoresistive transducer battle arrays
It is classified as example, including two three axle magnetoresistive sensor module；Three described axle magnetoresistive sensor module, are by three magnetoresistive transducers
Carry out rearranging an orthogonal three-axis sensor of three axles according to three mutually orthogonal directions, measure three orthogonal sides respectively
To magnetic field intensity, i.e. the magnetic field intensity of x-axis, y-axis, z-axis, altogether record the data of two groups of targeted attitudes.
5. as claimed in claim 3 a kind of application multisensor array electromagnetic positioning system it is characterised in that described puts
Position/reset circuit adopts AD620 as amplifier, and gain ranging is 1-10000.
6. as claimed in claim 1 a kind of electromagnetic positioning system of application multisensor array it is characterised in that described letter
Number processing module, using ADC on the piece of TMS320F28355DSP to the analog signal sampling of output on sensor and in real time
Process, gather the voltage signal on two three axle magnetoresistive transducers successively, then location algorithm and the biography through being transplanted in DSP
Sensor data anastomosing algorithm positions to target；Communicate finally by with host computer, location tracking result is shown to PC
On.
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| CN109099907A (en) * | 2018-07-30 | 2018-12-28 | 广西大学 | A kind of short distance unmanned plane accurate positioning method and guidance system based on dynamic magnetic field distribution |
| CN109375169A (en) * | 2018-10-26 | 2019-02-22 | 西北工业大学 | A kind of electromagnetic positioning system positioned using single-axis sensors array |
| CN109541528A (en) * | 2018-10-09 | 2019-03-29 | 阳光凯讯(北京)科技有限公司 | A kind of electromagnetic tracking system identified based on target state and propagation medium |
| CN109541527A (en) * | 2018-10-09 | 2019-03-29 | 阳光凯讯(北京)科技有限公司 | A kind of real-time adaptive error calibration system for electromagnetism tracking |
| CN109717871A (en) * | 2018-12-25 | 2019-05-07 | 上海理工大学 | Magnetic labeling location method based on omnidirectional distribution magnetic source |
| CN110095817A (en) * | 2019-03-19 | 2019-08-06 | 西人马（厦门）科技有限公司 | Movable object object localization method and device |
| CN110658482A (en) * | 2019-09-10 | 2020-01-07 | 北京自动化控制设备研究所 | Multi-sensor data acquisition and fusion method for magnetic detection system |
| CN111307154A (en) * | 2020-02-27 | 2020-06-19 | 南京大学 | Indoor pedestrian tracking system based on magnet array scanning and working method thereof |
| CN112230207A (en) * | 2020-09-22 | 2021-01-15 | 辽宁工程技术大学 | Mutual inductance-based non-contact distance measuring and positioning instrument and use method thereof |
| CN112729317A (en) * | 2020-12-17 | 2021-04-30 | 大陆投资(中国)有限公司 | Method for locating a vehicle and on-board system |
| CN114073580A (en) * | 2021-06-28 | 2022-02-22 | 成都思瑞定生命科技有限公司 | Magnetic field generator calibration device and calibration method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099907A (en) * | 2018-07-30 | 2018-12-28 | 广西大学 | A kind of short distance unmanned plane accurate positioning method and guidance system based on dynamic magnetic field distribution |
| CN109541528A (en) * | 2018-10-09 | 2019-03-29 | 阳光凯讯(北京)科技有限公司 | A kind of electromagnetic tracking system identified based on target state and propagation medium |
| CN109541527A (en) * | 2018-10-09 | 2019-03-29 | 阳光凯讯(北京)科技有限公司 | A kind of real-time adaptive error calibration system for electromagnetism tracking |
| CN109375169A (en) * | 2018-10-26 | 2019-02-22 | 西北工业大学 | A kind of electromagnetic positioning system positioned using single-axis sensors array |
| CN109717871A (en) * | 2018-12-25 | 2019-05-07 | 上海理工大学 | Magnetic labeling location method based on omnidirectional distribution magnetic source |
| CN110095817A (en) * | 2019-03-19 | 2019-08-06 | 西人马（厦门）科技有限公司 | Movable object object localization method and device |
| CN110658482A (en) * | 2019-09-10 | 2020-01-07 | 北京自动化控制设备研究所 | Multi-sensor data acquisition and fusion method for magnetic detection system |
| CN110658482B (en) * | 2019-09-10 | 2021-08-10 | 北京自动化控制设备研究所 | Multi-sensor data acquisition and fusion method for magnetic detection system |
| CN111307154A (en) * | 2020-02-27 | 2020-06-19 | 南京大学 | Indoor pedestrian tracking system based on magnet array scanning and working method thereof |
| CN111307154B (en) * | 2020-02-27 | 2023-02-21 | 南京大学 | Indoor pedestrian tracking system based on magnet array scanning and working method thereof |
| CN112230207A (en) * | 2020-09-22 | 2021-01-15 | 辽宁工程技术大学 | Mutual inductance-based non-contact distance measuring and positioning instrument and use method thereof |
| CN112230207B (en) * | 2020-09-22 | 2024-01-09 | 辽宁工程技术大学 | Non-contact distance measurement and positioning instrument based on mutual inductance and use method thereof |
| CN112729317A (en) * | 2020-12-17 | 2021-04-30 | 大陆投资(中国)有限公司 | Method for locating a vehicle and on-board system |
| CN112729317B (en) * | 2020-12-17 | 2023-09-19 | 大陆投资(中国)有限公司 | Method for locating a vehicle and in-vehicle system |
| CN114073580A (en) * | 2021-06-28 | 2022-02-22 | 成都思瑞定生命科技有限公司 | Magnetic field generator calibration device and calibration method |
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