CN107132581A - A kind of double-deck magnetic source localization method based on pose mapping relations database - Google Patents
A kind of double-deck magnetic source localization method based on pose mapping relations database Download PDFInfo
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Abstract
The invention discloses a kind of double-deck magnetic source localization method based on pose mapping relations database：Treat tracking object and carry out magnetic marker；The position and posture for making mark magnetic source are consistent with the position of object to be followed the trail of and posture, and mapping relations are met between location parameter and attitude parameter；Based on mapping relations, discrete point sampling demarcation is carried out to the spatial movement for marking magnetic source, pose mapping relations database is built；The accurate location parameter and exact posture parameter for obtaining mark magnetic source are calculated by double-deck reverse temperature intensity algorithm；Obtain the location parameter and attitude parameter of object to be followed the trail of.Wherein obtain marking the rough location parameter and preliminary attitude parameter of magnetic source by first layer reverse temperature intensity algorithm, corresponding mapping attitude parameter is obtained from pose mapping relations database according to rough location parameter, using rough location parameter and corresponding mapping attitude parameter as the initial value of second layer reverse temperature intensity algorithm, the accurate location parameter and exact posture parameter of magnetic source must be marked by solving.
Description
Technical field
The present invention relates to source localization method, and in particular to a kind of double-deck magnetic source based on pose mapping relations database is determined
Position method.
Background technology
In based on magnetic labeling location technology, mark magnetic source excites the spatial distribution in magnetic field with marking position, the appearance of magnetic source
State parameter meets specific physical model, in particular to magnetic dipole physical model.Detected and sensed using magnetic field probe
Magnetic source is marked to excite the distribution of space magnetic field on device position, the magnetic dipole physical model of binding marker magnetic source is set up and mark
The related object function of magnetic source position, posture, by the anti-solution method of nonlinear iteration, obtains the mark for making object function minimum
The position of magnetic source, attitude parameter, realize mark source localization, and then obtain the movable information of object to be followed the trail of.
Magnetic labeling location technology due to noncontact, without driving source, propagate independent of medium and physical model into
Ripe the advantages of, it is widely used in industrial production, biomedicine, is such as medically used for the endoscope that intestines and stomach are detected
Capsule positioning etc..
It is many to be realized using iterative optimization method because mark magnetic source position, posture solution are nonlinear inverse problem solvings, and
The solving result of iterative algorithm is largely influenceed by iteration initial value, and existing research is set about improving mark magnetic from software and hardware
The accuracy and speed of source positioning, including increase are used for the magnetic field probe number that measurement markers magnetic source excites space magnetic field,
More Distribution of Magnetic Field information are obtained, however, the increase of number of probes causes whole source localization system cost increase, volume
Increase, detection information sample inconvenient for use and bigger can be solved to back end signal processing and nonlinear algorithm and brought very
Big burden；In addition, simplified non-linear inverse resolution model is obtained by matrix and Linear Algebra Operation, however, these methods pair
The interference that noise signal is introduced is more sensitive.Therefore, how on the basis of existing magnetic field probe technology, obtain high-precision
Degree source localization parameter is the emphasis of the magnetic labeling location area research.
The content of the invention
It is a kind of based on pose mapping relations number present invention aims at providing for defect present in above-mentioned prior art
According to the double-deck magnetic source localization method in storehouse.
The invention provides a kind of double-deck magnetic source localization method based on pose mapping relations database, with such spy
Levy, comprise the following steps：Step one, treat tracking object and carry out magnetic marker；Step 2, make mark magnetic source position and posture with
The position of object to be followed the trail of and posture are consistent, and mapping relations are met between location parameter and attitude parameter；Step 3, is based on
Mapping relations, carry out discrete point sampling demarcation to the spatial movement for marking magnetic source, build pose mapping relations database；Step
Four, the accurate location parameter and exact posture parameter for obtaining mark magnetic source are calculated by double-deck reverse temperature intensity algorithm；Step 5,
The location parameter and attitude parameter of object to be followed the trail of are obtained by telltale mark magnetic source.
In the double-deck magnetic source localization method based on pose mapping relations database that the present invention is provided, there can also be this
The feature of sample：Wherein, double-deck reverse temperature intensity algorithm includes following two layers of algorithm：
In the first layer reverse temperature intensity algorithm, mark magnetic source is measured by N number of magnetic field probe and excites space
The magnetic flux distribution B in magnetic fieldm,
Bm={ Bm(1),Bm(2),…,Bm(i),…}I=1：N (1)
Signal most strong magnetic field probe location parameter r will be detected in N number of magnetic field probep0With zero attitude ginseng
Number M0As the initial value of formula (2) least-squares iteration optimized algorithm,
In formula (2), iterative steps are J；Bm(i) it is to measure mark on i-th of magnetic field probe present position point
Magnetic source excites the magnetic flux density of space magnetic field；rp1The location parameter of mark magnetic source obtained by first layer reverse temperature intensity；M1For
The dipole moment of mark magnetic source obtained by first layer reverse temperature intensity；rpjFor in iterative process, jth walks the corresponding mark magnetic source of iteration
Location parameter；MjFor in iterative process, jth walks the dipole moment of the corresponding mark magnetic source of iteration；Bc(rpj,Mj, i) it is i-th
On magnetic field probe, jth step iteration, based on dipole model of magnetic and iteration source localization parameter (rpj,Mj), calculate gained
The magnetic flux distribution for exciting space magnetic field of magnetic source is marked,
Object function f will be solved1(rp1, M1) obtained rp1It is used as the rough location parameter of mark magnetic source, M1It is used as mark
The preliminary attitude parameter of magnetic source,
According to rough location parameter rp1Search obtains corresponding location parameter r ' from pose mapping relations databasepAnd
Corresponding mapping attitude parameter M ',
In second layer reverse temperature intensity algorithm, by rough location parameter rp1Formula (3) are used as with mapping attitude parameter M '
The initial value of least-squares iteration optimized algorithm,
In formula (3), iterative steps are K；Bm(i) it is to measure mark on i-th of magnetic field probe present position point
Magnetic source excites the magnetic flux density of space magnetic field；rpThe location parameter of mark magnetic source obtained by second layer reverse temperature intensity；M is
The dipole moment of mark magnetic source obtained by two layers of reverse temperature intensity；rpkFor in iterative process, kth walks the corresponding mark magnetic source of iteration
Location parameter；MkFor in iterative process, kth walks the dipole moment of the corresponding mark magnetic source of iteration；Bc(rpk,Mk, it is i) i-th of magnetic
On field measurement sensor, kth step iteration, based on dipole model of magnetic and iteration source localization parameter (rpk,Mk), calculate gained and mark
Remember the magnetic flux distribution for exciting space magnetic field of magnetic source,
Object function f will be solved2(rp, M) and obtained rpAs the accurate location parameter of mark magnetic source, M is used as mark magnetic source
Exact posture parameter.
In the double-deck magnetic source localization method based on pose mapping relations database that the present invention is provided, there can also be this
The feature of sample：Wherein, mark magnetic source is modeled by magnetic dipole.
In the double-deck magnetic source localization method based on pose mapping relations database that the present invention is provided, there can also be this
The feature of sample：Wherein, the magnetic field source nearby not in addition to magnetic source is marked of object to be followed the trail of and the object to be followed the trail of or
Ferrimagnet.
The effect of invention and effect
The invention provides a kind of double-deck magnetic source localization method based on pose mapping relations database, thing to be followed the trail of is utilized
Position and posture mapping relations that the kinetic characteristic of body has, build the pose mapping relations data that mark magnetic source is met
Storehouse, is designed double-deck reverse temperature intensity algorithm based on pose mapping relations database, in first layer algorithm, is passed using magnetic-field measurement
Output signal most strong sensing station parameter r in sensor arrayp0With zero attitude parameter M0As initial value, surveyed using sensor
The magnetic flux distribution of amount, the rough location parameter r for marking magnetic source is obtained by first layer algorithmp1With preliminary attitude parameter M1,
Further, search pose mapping relations database in rough location parameter rp1Corresponding location parameter r 'pAnd corresponding reflect
Attitude parameter M ' is penetrated, then with rough location parameter rp1With mapping attitude parameter M ' as second layer algorithm initial value, with reference to
The magnetic flux distribution of sensor measurement, accurate location parameter r is obtained by second layer algorithmpWith exact posture parameter M.This hair
It is bright to realize that high-precision magnetic source position, attitude information are obtained by reverse temperature intensity algorithm, for the location technology based on mark magnetic source
There is provided a kind of accuracy method.
Brief description of the drawings
Fig. 1 is the flow chart of double-deck reverse temperature intensity algorithm in embodiments of the invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, it is real below
Example combination accompanying drawing is applied to be specifically addressed double-deck magnetic source localization method of the present invention based on pose mapping relations database.
A kind of double-deck magnetic source localization method based on pose mapping relations database is mainly included the following steps that：
Step one, treat tracking object and carry out magnetic marker.Object to be followed the trail of and its nearby not except mark magnetic source in addition to
Magnetic field source or ferrimagnet.
Step 2, the position and posture for making mark magnetic source is consistent with the position of object to be followed the trail of and posture, position ginseng
Mapping relations are met between number and attitude parameter.
Step 3, is modeled using magnetic dipole to mark magnetic source.Based on mapping relations, the space for marking magnetic source is transported
It is dynamic to carry out discrete point sampling demarcation, build following pose mapping relations database：
The pose mapping relations database of table 1.
| Mark the location parameter r of magnetic sourcep’ | Mark attitude parameter (magnetic dipole moment) M ' of magnetic source |
| rp’(1) | M’(1) |
| rp’(2) | M’(2) |
| … | … |
| rp’(j) | M’(j) |
| … | … |
Step 4, the accurate location parameter and exact posture for obtaining mark magnetic source are calculated by double-deck reverse temperature intensity algorithm
Parameter.
Step 5, the location parameter and attitude parameter of object to be followed the trail of are obtained by telltale mark magnetic source, waits to chase after to realize
Track object is accurately positioned.
Double-deck reverse temperature intensity algorithm includes following two layers of algorithm：
In first layer reverse temperature intensity algorithm, pass through the magnetic field probe being made up of N number of magnetic field probe
Array measures the magnetic flux distribution B for exciting space magnetic field that magnetic source is marked on the point of present positionm。
Bm={ Bm(1),Bm(2),…,Bm(i),…}I=1:N (1)
Signal most strong magnetic field probe location parameter r will be detected in N number of magnetic field probep0With zero attitude ginseng
Number M0It is used as the initial value of formula (2) least-squares iteration optimized algorithm.
In formula (2), iterative steps are J；Bm(i) it is to measure mark on i-th of magnetic field probe present position point
Magnetic source excites the magnetic flux density r of space magnetic fieldp1The location parameter of mark magnetic source obtained by first layer reverse temperature intensity；M1For
The dipole moment of mark magnetic source obtained by one layer of reverse temperature intensity；rpjFor in iterative process, jth walks the corresponding mark magnetic source of iteration
Location parameter；MjFor in iterative process, jth walks the dipole moment of the corresponding mark magnetic source of iteration；Bc(rpj,Mj, it is i) i-th of magnetic
On field measurement sensor, jth step iteration, based on dipole model of magnetic and iteration source localization parameter (rpj,Mj), calculate gained and mark
Remember the magnetic flux distribution for exciting space magnetic field of magnetic source.
Object function f will be solved1(rp1, M1) obtained rp1It is used as the rough location parameter of mark magnetic source, M1It is used as mark
The preliminary attitude parameter of magnetic source.
According to rough location parameter rp1Search obtains immediate location parameter r ' from pose mapping relations databasepWith
And corresponding mapping attitude parameter M '.
In second layer reverse temperature intensity algorithm, by rough location parameter rp1Formula (3) are used as with mapping attitude parameter M '
The initial value of least-squares iteration optimized algorithm.
In formula (3), iterative steps are K；Bm(i) it is to measure mark on i-th of magnetic field probe present position point
Magnetic source excites the magnetic flux density of space magnetic field；rpThe location parameter of mark magnetic source obtained by second layer reverse temperature intensity；M is
The dipole moment of mark magnetic source obtained by two layers of reverse temperature intensity；rpkFor in iterative process, kth walks the corresponding mark magnetic source of iteration
Location parameter；MkFor in iterative process, kth walks the dipole moment of the corresponding mark magnetic source of iteration；Bc(rpk,Mk, it is i) i-th of magnetic
On field measurement sensor, kth step iteration, based on dipole model of magnetic and iteration source localization parameter (rpk,Mk), calculate gained and mark
Remember the magnetic flux distribution for exciting space magnetic field of magnetic source.
Object function f will be solved2(rp, M) and obtained rpAs the accurate location parameter of mark magnetic source, M is used as mark magnetic source
Exact posture parameter, that is, object of which movement information to be followed the trail of (location parameter and attitude parameter) is obtained, it is achieved thereby that waiting to follow the trail of
Object is accurately positioned.
Fig. 1 is the flow chart of double-deck reverse temperature intensity algorithm in embodiments of the invention.
As shown in figure 1, the concise flow of double-deck reverse temperature intensity algorithm is as follows：
Step S1：Magnetic field probe array measures the magnetic flux for exciting space magnetic field that magnetic source is marked on the point of present position
Density Distribution Bm, subsequently into step S2.
Step S2：Signal most strong magnetic field probe location parameter r will be detected in N number of magnetic field probep0With
Zero attitude parameter M0The initial value of first layer reverse temperature intensity algorithm, subsequently into step S3.
Step S3：With reference to BmSolve first layer reverse temperature intensity algorithm and obtain rough location parameter rp1With preliminary attitude parameter
M1, subsequently into step S4.
Step S4：According to rough location parameter rp1Search obtains immediate position ginseng from pose mapping relations database
Number rp' and corresponding mapping attitude parameter M ', subsequently into step S5.
Step S5：By rough location parameter rp1The initial of second layer reverse temperature intensity algorithm is used as with mapping attitude parameter M '
Value, subsequently into step S6.
Step S6：With reference to BmSolve the accurate location parameter r that second layer reverse temperature intensity algorithm obtains marking magnetic sourcepAnd standard
True attitude parameter M, then done state.
The effect of embodiment and effect
A kind of double-deck magnetic source localization method utilization based on pose mapping relations database is present embodiments provided to wait to follow the trail of
Position and posture mapping relations that the kinetic characteristic of object has, build the pose mapping relations data that mark magnetic source is met
Storehouse, is designed double-deck reverse temperature intensity algorithm based on pose mapping relations database, in first layer algorithm, is passed using magnetic-field measurement
Output signal most strong sensing station parameter r in sensor arrayp0With zero attitude parameter M0As initial value, surveyed using sensor
The magnetic flux distribution of amount, the rough location parameter r for marking magnetic source is obtained by first layer algorithmp1With preliminary attitude parameter M1,
Further, search pose mapping relations database in rough location parameter rp1Closest location parameter rp' and correspondingly
Mapping attitude parameter M ', then with rough location parameter rp1With mapping attitude parameter M ' as second layer algorithm initial value,
The magnetic flux distribution measured with reference to sensor, accurate location parameter r is obtained by second layer algorithmpWith exact posture parameter M.
The present embodiment realizes that high-precision magnetic source position, attitude information are obtained by reverse temperature intensity algorithm, for determining based on mark magnetic source
Position technology provides a kind of accuracy method.
Above-mentioned embodiment is the preferred case of the present invention, is not intended to limit protection scope of the present invention.
Claims (4)
1. a kind of double-deck magnetic source localization method based on pose mapping relations database, it is characterised in that comprise the following steps：
Step one, treat tracking object and carry out magnetic marker；
Step 2, the position and posture for making mark magnetic source is consistent with the position of the object to be followed the trail of and posture, position ginseng
Mapping relations are met between number and attitude parameter；
Step 3, based on the mapping relations, the spatial movement to the mark magnetic source carries out discrete point sampling demarcation, builds position
Appearance mapping relations database；
Step 4, the accurate location parameter and exact posture for obtaining the mark magnetic source are calculated by double-deck reverse temperature intensity algorithm
Parameter；
Step 5, the location parameter and attitude parameter of the object to be followed the trail of are obtained by telltale mark magnetic source.
2. the double-deck magnetic source localization method according to claim 1 based on pose mapping relations database, it is characterised in that：
Wherein, the double-deck reverse temperature intensity algorithm includes following two layers of algorithm：
In the first layer reverse temperature intensity algorithm, the mark magnetic source is measured by N number of magnetic field probe and excites space
The magnetic flux distribution B in magnetic fieldm,
Bm={ Bm(1),Bm(2),…,Bm(i),…}I=1:N (1)
Signal most strong magnetic field probe location parameter r will be detected in N number of magnetic field probep0With zero attitude parameter M0
As the initial value of formula (2) least-squares iteration optimized algorithm,
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In formula (2), iterative steps are J；Bm(i) magnetic source institute is marked to be measured on i-th of magnetic field probe present position point
Excite the magnetic flux density of space magnetic field；rp1The location parameter of mark magnetic source obtained by first layer reverse temperature intensity；M1For first layer
The dipole moment of mark magnetic source obtained by reverse temperature intensity；rpjFor in iterative process, jth walks the position of the corresponding mark magnetic source of iteration
Parameter；MjFor in iterative process, jth walks the dipole moment of the corresponding mark magnetic source of iteration；Bc(rpj,Mj, i) surveyed for i-th of magnetic field
On quantity sensor, jth step iteration, based on dipole model of magnetic and iteration source localization parameter (rpj,Mj), calculate gained mark magnetic
The magnetic flux distribution for exciting space magnetic field in source,
Object function f will be solved1(rp1, M1) obtained rp1It is used as the rough location parameter of the mark magnetic source, M1It is used as the mark
Remember the preliminary attitude parameter of magnetic source,
According to rough location parameter rp1Search obtains corresponding location parameter r ' from the pose mapping relations databasepAnd
Corresponding mapping attitude parameter M ',
In second layer reverse temperature intensity algorithm, by the rough location parameter rp1Formula is used as with the mapping attitude parameter M '
(3) initial value of least-squares iteration optimized algorithm,
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In formula (3), iterative steps are K；Bm(i) magnetic source institute is marked to be measured on i-th of magnetic field probe present position point
Excite the magnetic flux density of space magnetic field；rpThe location parameter of mark magnetic source obtained by second layer reverse temperature intensity；M is that the second layer is inverse
The dipole moment of mark magnetic source obtained by problem solving；rpkFor in iterative process, the position of the corresponding mark magnetic source of kth step iteration is joined
Number；MkFor in iterative process, kth walks the dipole moment of the corresponding mark magnetic source of iteration；Bc(rpk,Mk, i) it is i-th of magnetic-field measurement
On sensor, kth step iteration, based on dipole model of magnetic and iteration source localization parameter (rpk,Mk), calculate gained mark magnetic source
The magnetic flux distribution for exciting space magnetic field,
Object function f will be solved2(rp, M) and obtained rpAs the accurate location parameter of the mark magnetic source, M is as described
Mark the exact posture parameter of magnetic source.
3. the double-deck magnetic source localization method according to claim 1 based on pose mapping relations database, it is characterised in that：
Wherein, the mark magnetic source is modeled by magnetic dipole.
4. the double-deck magnetic source localization method according to claim 1 based on pose mapping relations database, it is characterised in that：
Wherein, the magnetic field source nearby not in addition to the mark magnetic source of the object to be followed the trail of and the object to be followed the trail of
Or ferrimagnet.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109717871A (en) * | 2018-12-25 | 2019-05-07 | 上海理工大学 | Magnetic labeling location method based on omnidirectional distribution magnetic source |
| CN110377015A (en) * | 2018-04-13 | 2019-10-25 | 北京三快在线科技有限公司 | Robot localization method and robotic positioning device |
| CN117898694A (en) * | 2024-03-18 | 2024-04-19 | 华中科技大学同济医学院附属协和医院 | Accurate intestine free position positioning method and system based on multiple magnetic mark positioning |
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