CN112393730B - Magnetic beacon positioning method and system based on magnetic induction intensity and characteristic vector - Google Patents
Magnetic beacon positioning method and system based on magnetic induction intensity and characteristic vector Download PDFInfo
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Abstract
The invention provides a magnetic beacon positioning method and system based on magnetic induction intensity and characteristic vectors, and relates to the technical field of magnetic beacon positioning, wherein the method comprises the steps of introducing two paths of excitation signals into a double-shaft magnetic beacon, and exciting the double-shaft magnetic beacon to generate a space magnetic field; acquiring magnetic induction coefficients and characteristic vector coefficients of two solenoids of the biaxial magnetic beacon; controlling a magnetometer to continuously collect magnetic field signals at a target position, controlling a band-pass filter to filter, and calculating a magnetic induction intensity accumulated value and a characteristic vector accumulated mode value of the two solenoids at the target position according to the filtered collected data; and fitting the position information of the target position according to the magnetic induction coefficients and the feature vector coefficients of the two solenoids, and the accumulated magnetic induction values and the accumulated feature vector mode values of the two solenoids at the target position. The method effectively improves the navigation capability in the complex environment.
Description
Technical Field
The invention relates to the technical field of magnetic beacon positioning, in particular to a magnetic beacon positioning method and system based on magnetic induction intensity and a characteristic vector.
Background
At present, a traditional GNSS satellite navigation positioning system cannot provide high-precision positioning service in a complex scene represented by indoor and cave, even cannot work normally, and an inertial navigation system has accumulated errors and cannot provide high-precision positioning service for a long time. Therefore, the magnetic beacon positioning technology based on the very low frequency magnetic field is widely researched in the field of complex environment navigation positioning due to the excellent characteristics of high penetrability, no accumulated error in positioning results and the like.
However, the existing magnetic beacon positioning technology based on the very low frequency magnetic field is seriously influenced by the attitude of the sensor, and the positioning system has high complexity and high positioning cost.
Disclosure of Invention
The invention solves the problems that the positioning precision of the existing magnetic beacon positioning technology is seriously influenced by the attitude of the sensor, and the positioning system has high complexity and high positioning cost.
In order to solve the above problem, a first aspect of the present invention provides a magnetic beacon positioning method based on magnetic induction and feature vectors, including:
two excitation signals are introduced into the biaxial magnetic beacon to excite the biaxial magnetic beacon to generate a space magnetic field;
acquiring magnetic induction coefficients and characteristic vector coefficients of two solenoids of the biaxial magnetic beacon;
controlling a magnetometer to continuously collect magnetic field signals at a target position, controlling a band-pass filter to filter, and calculating a magnetic induction intensity accumulated value and a characteristic vector accumulated modulus value of two solenoids at the target position according to the filtered collected data;
and fitting the position information of the target position according to the magnetic induction coefficients and the feature vector coefficients of the two solenoids, and the accumulated magnetic induction values and the accumulated feature vector modulus values of the two solenoids at the target position.
Further, the acquiring the magnetic induction coefficients and the feature vector coefficients of the two solenoids of the dual-axis magnetic beacon comprises:
controlling the magnetometer placed at a known point to continuously acquire magnetic field signals, and controlling the band-pass filter to filter, so as to obtain magnetic induction intensity values of the two solenoids at the known point;
accumulating the collected magnetic induction intensity values according to a common multiple of the number of the whole-period sampling points of the two solenoids to obtain the accumulated value of the magnetic induction intensity of the two solenoids at the known point, wherein the number of the whole-period sampling points of the solenoids is the ratio of the sampling frequency of the magnetometer to the frequency of an excitation signal introduced into the solenoids;
and calculating the magnetic induction coefficients of the two solenoids according to the position information of the known point and the magnetic induction accumulated values of the two solenoids.
Further, the obtaining the magnetic induction coefficients and the feature vector coefficients of the two solenoids of the dual-axis magnetic beacon comprises:
controlling the magnetometer placed at the known point to continuously acquire magnetic field signals, and controlling the band-pass filter to acquire a characteristic vector modulus value of the solenoid of each magnetic beacon at the known point;
accumulating the collected characteristic vector modulus values according to the common multiple of the number of the whole-period sampling points of the two solenoids to obtain the characteristic vector accumulated modulus values of the two solenoids at the known point;
calculating the eigenvector coefficients of the two solenoids based on the positional information of the known point and the eigenvector cumulative mode values of the two solenoids at the known point.
Further, the step of controlling the magnetometer to continuously collect magnetic field signals at the target position, controlling the band-pass filter to perform filtering, and calculating the magnetic induction intensity accumulated value and the feature vector accumulated mode value of the two solenoids at the target position according to the filtered collected data includes:
controlling the magnetometer to collect magnetic field signals at the target position, and then filtering the magnetic field signals through the band-pass filter to obtain magnetic induction intensity values of the two solenoids at the target position;
and accumulating the collected magnetic induction intensity according to the common multiple of the number of the whole-period sampling points of the two solenoids to obtain the accumulated value of the magnetic induction intensity of the two solenoids at the target position.
Further, the controlling the magnetometer to continuously collect magnetic field signals at a target position, controlling the band-pass filter to filter, and calculating a magnetic induction accumulated value and a feature vector accumulated mode value of the two solenoids at the target position according to the filtered collected data includes:
controlling the magnetometer to collect magnetic field signals at the target position, and then filtering the magnetic field signals through the band-pass filter to obtain characteristic vector modulus values of the two solenoids at the target position;
and accumulating the collected characteristic vector modulus values according to the common multiple of the number of the whole-period sampling points of the two solenoids to obtain the characteristic vector accumulated modulus values of the two solenoids at the target position.
Further, the fitting of the position information of the target position according to the magnetic induction coefficients of the two solenoids, the feature vector coefficient, and the accumulated magnetic induction values and the accumulated feature vector mode values of the two solenoids at the target position includes:
establishing a nonlinear equation set according to the magnetic induction coefficients and the feature vector coefficients of the two solenoids and the accumulated magnetic induction values and the accumulated feature vector mode values of the two solenoids at the target position;
and solving the nonlinear equation set by a Levenberg-Marquardt-based nonlinear least square optimization algorithm, and fitting the position information of the target position.
Further, the excitation signal is a sinusoidal signal.
Furthermore, the amplitudes of the two excitation signals are the same, the phase difference is 90 degrees, and the frequencies are different.
A second aspect of the present invention provides a magnetic beacon positioning system based on magnetic induction and feature vectors, comprising:
the excitation module is used for introducing the two excitation signals into the biaxial magnetic beacon and exciting the biaxial magnetic beacon to generate a space magnetic field;
the acquisition module is used for acquiring magnetic induction coefficients and characteristic vector coefficients of two solenoids of the biaxial magnetic beacon;
the acquisition module is used for controlling the magnetometer to continuously acquire magnetic field signals at a target position, controlling the band-pass filter to filter, and calculating a magnetic induction intensity accumulated value and a characteristic vector accumulated module value of the two solenoids at the target position according to the filtered acquired data;
and the calculation module is used for fitting the position information of the target position according to the magnetic induction intensity coefficients and the characteristic vector coefficients of the two solenoids, and the accumulated magnetic induction intensity values and the accumulated characteristic vector mode values of the two solenoids at the target position.
A third aspect of the present invention provides a storage medium, which stores a computer program, and when the computer program is read and executed by a processor, the method for positioning a magnetic beacon based on magnetic induction and a feature vector as described above is implemented.
The invention has the beneficial effects that: the invention realizes stable and accurate navigation in complex environments with a large number of obstacles, such as underground, indoor and the like, by generating a low-frequency magnetic field by the magnetic beacon, and meanwhile, the navigation positioning result is irrelevant to the self attitude of the target, and the position error and the target attitude error are not accumulated; in addition, the magnetic beacon positioning method based on magnetic induction intensity and characteristic vectors only needs a biaxial magnetic beacon, a magnetometer and a band-pass filter, the positioning system is relatively simple, relevant variables required for positioning are scalar quantities, and the positioning result is irrelevant to the attitude angle of a relevant device; in conclusion, the magnetic beacon positioning method based on the magnetic induction intensity and the characteristic vector effectively improves the navigation capability in the complex environment.
Drawings
Fig. 1 is a schematic structural diagram of a biaxial magnetic beacon of a magnetic beacon positioning method based on magnetic induction and feature vectors according to an embodiment of the present invention;
fig. 2 is a schematic view of an angular relationship between a biaxial magnetic beacon and a target point of a magnetic beacon positioning method based on magnetic induction and a feature vector according to an embodiment of the present invention;
FIG. 3 is a flowchart of a magnetic beacon positioning method based on magnetic induction and feature vectors according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a magnetic beacon positioning system based on magnetic induction and feature vectors according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention and the above-described drawings are intended to cover non-exclusive inclusions. For example, a process, method, or system, article, or apparatus that comprises a list of steps or modules is not limited to the listed steps or modules, but may alternatively include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention provides a magnetic beacon positioning method based on magnetic induction intensity and a characteristic vector, which comprises the following steps:
s101: and introducing the two excitation signals into the biaxial magnetic beacon to excite the biaxial magnetic beacon to generate a space magnetic field.
Wherein, the excitation signal is generated by the signal generator according to the set signal frequency, amplitude and phase.
Specifically, as shown in fig. 1, the biaxial magnetic beacon is placed at a known position, and two excitation signals may be introduced into the biaxial magnetic beacon to generate a changing magnetic field, where the two excitation signals may be introduced into the biaxial magnetic beacon after being amplified by the linear power amplifier.
Fig. 1 is a schematic structural diagram of a biaxial magnetic beacon according to an embodiment of the present invention, in which two closely wound solenoids are perpendicular to each other and are horizontally disposed. Sinusoidal excitation signals with two different frequencies are respectively input to the two solenoids, for example, an excitation signal of 10Hz is input to one of the orthogonal solenoids of the magnetic beacon, and an excitation signal of 20Hz is input to the other of the orthogonal solenoids, so that magnetic fields which do not change along with time in two directions and change along with time in magnitude are directly constructed in space.
Preferably, the excitation signal is a sinusoidal signal.
The sinusoidal signal is a signal having the most unique frequency component, and thus is suitable as an excitation signal.
Preferably, the amplitudes of the two excitation signals are the same, the phase difference is 90 degrees, and the frequencies are different.
Since the biaxial magnetic beacon is formed by two tightly wound solenoids which are orthogonal, in order to enable the biaxial magnetic beacon to generate magnetic field vectors with different directions in space, two excitation signals need to be respectively input into the two solenoids of the biaxial magnetic beacon, therefore, the phase difference of the two excitation signals is 90 degrees, meanwhile, in order to reduce the calculation amount, the difference of the two excitation signals needs to be reduced, and therefore, the amplitudes of the two excitation signals are preferably the same. In order to enable the biaxial magnetic beacon to generate magnetic field vectors with different sizes in space, the frequencies of the two excitation signals need to be different.
S102: and acquiring magnetic induction coefficients and characteristic vector coefficients of two solenoids of the biaxial magnetic beacon.
Wherein, the characteristic vector of the biaxial magnetic beacon is the cross product of the magnetic induction intensity of the two solenoids of the biaxial magnetic beacon. The magnetic induction coefficient and the characteristic vector coefficient are related to the number of turns of the coil and the coil radius of the solenoid, but it is cumbersome to directly measure the number of turns of the coil and the coil radius of the solenoid, and therefore, it is preferable in this embodiment to calculate the magnetic induction coefficient and the characteristic vector coefficient by the following measurement procedure.
In application, after the number of turns of the coil of the solenoid, the radius of the coil and the frequency of an excitation signal introduced into the solenoid are obtained, the magnetic induction coefficient and the characteristic vector coefficient of the solenoid can be directly calculated according to the number of turns of the coil of the solenoid, the radius of the coil and the frequency of the excitation signal introduced into the solenoid, and the measurement process at a known point does not need to be carried out.
In this embodiment, the number of turns of the coil and the radius of the coil of the two solenoids are set to be the same for simplifying the calculation.
Preferably, the acquiring the magnetic induction coefficients and the feature vector coefficients of the two solenoids of the dual-axis magnetic beacon comprises:
and controlling the magnetometer placed at the known point to continuously acquire magnetic field signals, and controlling the band-pass filter to obtain the magnetic induction intensity value of the solenoid of each magnetic beacon at the known point.
Wherein the magnetometer is preferably a three-axis magnetometer to more accurately measure the magnetic induction of both solenoids. The known point is a point with known position information, the magnetometer is placed at the known point to continuously collect magnetic field signals, so that magnetic field parameter information of the two solenoids at the known point is obtained, and in addition, the position of the biaxial magnetic beacon is also known, so that the relative position relation between the position of the biaxial magnetic beacon and the known point can be determined, and further, enough parameter information is obtained, so that the magnetic induction coefficients and the characteristic vector coefficients of the two solenoids are calculated. When the position information of the target position is solved by adopting the biaxial magnetic beacon, the magnetic induction coefficients and the characteristic vector coefficients of the two solenoids need to be obtained, and the magnetic induction coefficients and the characteristic vector coefficients of the two solenoids can be obtained through known points.
In application, because the magnetic field signal collected by the magnetometer is a mixed magnetic field signal generated by the two solenoids, filtering needs to be performed through a band-pass filter to reduce noise and extract magnetic induction intensity measurement data of the two solenoids respectively.
According to the magnetic dipole theory, the magnetic induction of a biaxial magnetic beacon can be expressed as
Wherein I is the amplitude of the exciting current, N is the number of turns of the solenoid coil, R is the radius of the solenoid coil, and mu 0 A factor of the magnetic field propagation medium, r is the distance between the target and the magnetic beacon, ω 1 、ω 2 The frequency of the exciting current of each of the two solenoids, i.e. the frequency of the exciting signal to the solenoid, theta 1 、θ 2 Respectively the yaw angles between the magnetic beacon and the target point relative to the x axis and the y axis,
the pitch angles between the magnetic beacon and the target point with respect to the x-axis and the y-axis, respectively, as shown in fig. 2, and the parameters are known parameters or parameters that can be calculated by the known parameters.
The magnetic induction strength values of the two solenoids of the dual-axis magnetic beacon at known points are:
the feature vectors are:
using the relation between relative azimuth angles
The feature vector can be converted to the following equation:
the characteristic vector modulus is:
converting relative azimuth angle and distance between magnetic beacon and measuring point into rectangular coordinate system form
r＝(x 2 +y 2 +z 2 )
Magnetic induction value | B of each axis of magnetic beacon 1 I and I B 2 And the eigenvector modulus | H cs | can be expressed as:
and accumulating the collected magnetic induction intensity values according to the common multiple of the number of the whole-period sampling points of the two solenoids to obtain the accumulated value of the magnetic induction intensities of the two solenoids at the known point, wherein the number of the whole-period sampling points of the solenoids is the ratio of the sampling frequency of the magnetometer to the frequency of the excitation signal introduced into the solenoids.
In this embodiment, the common multiple of the number of the solenoid full-period sampling points needs to be smaller than the sampling frequency of the magnetometer so as to have enough sampling points, and therefore, in this embodiment, the collected magnetic induction intensity values are accumulated according to the smallest common multiple of the number of the two solenoid full-period sampling points, the smallest common multiple of the number of the solenoid full-period sampling points is defined as n, n is a positive integer, for example, the sampling frequency of the magnetometer at the target position is 1000Hz, the frequencies of the two excitation signals are 10Hz and 20Hz respectively, and the number of the two solenoid full-period sampling points is 100 and 50 respectively, so that n can be 100.
The specific calculation process is as follows, assuming that the coordinates of the known points are P 0 (x 0 ,y 0 ,z 0 )，
Wherein | B 1 |、|B 2 |、|H cs I can be directly measured by a magnetometer to obtain m 1 、m 2 、m 3 Is constant, i.e.
And calculating the magnetic induction coefficients of the two solenoids according to the position information of the known point and the accumulated values of the magnetic induction of the two solenoids.
The magnetic induction coefficient k of the two solenoids 1 And k 2 And a feature vector coefficient k 3 Are respectively as
Preferably, the acquiring the magnetic induction coefficients and the feature vector coefficients of the two solenoids of the dual-axis magnetic beacon further comprises:
controlling the magnetometer placed at the known point to continuously acquire magnetic field signals, and controlling the band-pass filter to acquire a characteristic vector modulus value of the solenoid of each magnetic beacon at the known point;
accumulating the collected characteristic vector modulus values according to the common multiple of the number of the whole-period sampling points of the two solenoids to obtain the characteristic vector accumulated modulus values of the two solenoids at the known point;
calculating the eigenvector coefficients of the two solenoids based on the positional information of the known point and the eigenvector cumulative modulus values of the two solenoids at the known point.
The calculation process of the feature vector coefficient is described above, and is not described herein again.
S103: and controlling the magnetometer to continuously collect magnetic field signals at the target position, controlling the band-pass filter to filter, and calculating the magnetic induction intensity accumulated value and the characteristic vector accumulated mode value of the two solenoids at the target position according to the filtered collected data.
Preferably, the controlling the magnetometer to continuously collect magnetic field signals at a target position, controlling the band-pass filter to perform filtering, and calculating a magnetic induction accumulated value and a feature vector accumulated mode value of the two solenoids at the target position according to the filtered collected data includes:
controlling the magnetometer to collect magnetic field signals at the target position, and then filtering the magnetic field signals through the band-pass filter to obtain magnetic induction intensity values of the two solenoids at the target position;
and accumulating the collected magnetic induction intensity values according to the common multiple of the number of the whole-period sampling points of the two solenoids to obtain the accumulated value of the magnetic induction intensity of the two solenoids at the target position.
Calculating the feature vector at the target position and calculating the module value of the feature vector
The calculation process is based on parameters measured by the three-axis magnetometer, and the feature vector at the target position is calculated based on the parameters in the xyz three-axis direction.
From the magnetic induction value | B c I and I B s L, feature vector modulus value | H' cs I, magnetic induction coefficient k 1 And k 2 Coefficient of feature vector k 3 Constant value m 1 、m 2 、m 3 Resolving the target position, target position P (x) p ,y p ,z p ) The following nonlinear equation system is formed between the data and the data, wherein in the calculation process, the constant value m is used for simplifying the calculation amount 1 、m 2 、m 3 The product of the magnetic induction coefficient and the constant value and the product of the characteristic vector coefficient and the constant value are directly calculated without solving, and then the magnetic induction coefficient and the constant value are substituted into the following formula.
Preferably, the controlling the magnetometer to continuously collect magnetic field signals at the target position, and controlling the band-pass filter to perform filtering, and calculating the magnetic induction accumulated value and the eigenvector accumulated mode value of the two solenoids at the target position according to the filtered collected data includes:
controlling the magnetometer to collect magnetic field signals at the target position, and then filtering the magnetic field signals through the band-pass filter to obtain characteristic vector modulus values of the two solenoids at the target position;
and accumulating the collected characteristic vector modulus values according to the common multiple of the number of the whole-period sampling points of the two solenoids to obtain the characteristic vector accumulated modulus values of the two solenoids at the target position.
S104: and fitting the position information of the target position according to the magnetic induction coefficients and the feature vector coefficients of the two solenoids, and the accumulated magnetic induction values and the accumulated feature vector mode values of the two solenoids at the target position.
Preferably, the fitting of the position information of the target position according to the magnetic induction coefficients of the two solenoids, the feature vector coefficient, and the accumulated magnetic induction values and the accumulated feature vector mode values of the two solenoids at the target position includes:
and establishing a nonlinear equation set according to the magnetic induction coefficients of the two solenoids, the characteristic vector coefficient, the accumulated magnetic induction values of the two solenoids at the target position and the accumulated characteristic vector mode value.
And solving the nonlinear equation set by a Levenberg-Marquardt-based nonlinear least square optimization algorithm, and fitting the position information of the target position.
The target position P (x) p ,y p ,z p ) As the parameter ζ to be optimized, equation (1) can be converted into a nonlinear least squares optimization problem, i.e.
Performing second-order Taylor expansion on the gamma (zeta)
Wherein J (ζ) is
With respect to the derivative of ζ, i.e. Jacobian matrix, satisfy
Substituting equation (2) into equation (3) further translates the nonlinear least squares problem into:
regarding the right end of the formula (6), Δ ζTaking derivative and extreme value, let H = J (ζ) T J (zeta) approximately replaces a Hessian matrix to obtain a linear increment equation set shown in the formula (7), and the current iteration increment delta zeta is obtained through solving and used for updating the optimization variable zeta
HΔζ＝-J(ζ) T J(ζ) (7)
H ill-conditioned or singular phenomena may occur in the iteration process, when the iteration increment delta zeta is large, and a large error is generated by first-order approximation, the situation that iteration is not converged occurs is caused, a trust domain is provided for the iteration increment delta zeta by utilizing Levenberg-Marquardt, when the delta zeta is positioned in the trust domain, the iteration increment is considered to be effective, and otherwise the convergence effect may be influenced. Setting approximation coefficient ρ to measure the effect of approximation by first-order Taylor
Increasing damping coefficient tau for linear incremental equation, and rewriting equation (7) into
(H+τI)Δζ＝-J(ζ)Γ(ζ) (9)
In the k iteration process, if H + tau I is not positive, let tau k ＝4τ k-1 Until a positive condition is satisfied. Obtained after Δ ζ k An approximation coefficient ρ is calculated by an inletting formula (34). If ρ is less than or equal to 0.25, then reduce the radius of the confidence domain and let τ k+1 ＝0.25τ k (ii) a If ρ ≧ 0.75, the radius of the confidence region should be properly enlarged, let τ k+1 ＝4τ k (ii) a If 0.25 < ρ < 0.75, the iteration increment Δ ζ is stated k Just within the trust domain, so that the trust radius, τ, can be maintained continuously k+1 ＝τ k . The confidence domain range is adjusted repeatedly until Γ (ζ) is smaller than a certain set threshold, the iteration is terminated, and the final optimization variable ζ is output as output position information.
And carrying out simulation verification on the magnetic beacon positioning method based on the magnetic induction intensity and the characteristic vector. The present embodiment is compared with the single magnetic beacon method and the multi-beacon geometric difference method with the feature vector. In the single magnetic beacon simulation verification based on the feature vector, the amplitude of the excitation current is 10A, and the frequency is 20Hz. In the simulation verification of the multi-beacon geometric difference method, the position information and the operating frequency of each magnetic beacon are shown in table 1, and the amplitude of the excitation current is 10A. In the simulation verification of the method, the current frequency of the magnetic beacon is 10Hz and 20Hz respectively, and the amplitude is 10A. A mean value of 40000nT is a constant interference magnetic field and white noise with the amplitude of 10nT exists in the environment. The initial position (0m, 0m) of the magnetic beacon in the whole coordinate system, and the position of the target is as shown in table 2.
TABLE 1 magnetic Beacon position information and operating frequency
| Magnetic beacon | Coordinate position | Frequency of operation |
| 1 | (0m,0m,0m) | 10Hz |
| 2 | (4m,0m,0m) | 20Hz |
| 3 | (0m,4m,0m) | 30Hz |
TABLE 2 prior coordinates of experimental targets
| Measuring point | Coordinates of the object | Attitude angle |
| P 1 | (1.2m,1.5m,0.5m) | α＝12.63°,β＝35.42°,γ＝24.81° |
| P 2 | (1.8m,1.3m,1.2m) | α＝41.38°,β＝14.69°,γ＝62.53° |
| P3 | (1.8m,1.5m,1.5m) | α＝37.44°,β＝52.18°,γ＝70.19° |
| P 4 | (2.5m,2.2m,1.6m) | α＝65.82°,β＝43.95°,γ＝52.87° |
The magnetic field data is collected from the target position to be positioned at the target position by using the magnetometer at a sampling frequency of 1000Hz, and the positioning results obtained by performing the calculation according to steps 2 to 6 in the above embodiment are shown in table 3. Example results show that, under the same conditions, compared with a single magnetic beacon positioning method based on a characteristic vector, the magnetic beacon positioning method based on magnetic induction intensity and the characteristic vector provided by the invention can effectively avoid the problem that positioning cannot be performed due to the attitude problem of the sensor.
TABLE 3 comparison of positioning simulation results
Therefore, under the conditions that the interference magnetic fields in the surrounding environment are consistent and the sampling frequency is the same, compared with a single magnetic beacon method based on a characteristic vector, the magnetic beacon positioning technology based on magnetic induction intensity and the characteristic vector provided by the invention can effectively avoid the problem that positioning cannot be performed due to the attitude problem of the sensor.
Because the very low frequency magnetic field has higher penetrability, accumulated errors do not exist in positioning results, and the like, the invention realizes stable and accurate navigation in complex environments with a large number of obstacles, such as underground, indoor and the like, by generating the low frequency magnetic field by the magnetic beacon. Meanwhile, the position information of the target position is obtained by fitting according to the magnetic induction intensity coefficients and the characteristic vector coefficients of the two solenoids and the magnetic induction intensity accumulated values and the characteristic vector accumulated module values of the two solenoids at the target position, and the magnetic induction intensity coefficients and the characteristic vector coefficients of the two solenoids and the magnetic induction intensity accumulated values and the characteristic vector accumulated module values of the two solenoids at the target position are irrelevant to the self posture of the target, so that the navigation positioning result is irrelevant to the self posture of the target, and the position error is not accumulated to the target posture error; in addition, the magnetic beacon positioning method based on magnetic induction intensity and characteristic vectors only needs a biaxial magnetic beacon, a magnetometer and a band-pass filter, the positioning system is relatively simple, relevant variables required for positioning are scalar quantities, and the positioning result is irrelevant to the attitude angle of a relevant device; in conclusion, the magnetic beacon positioning method based on the magnetic induction intensity and the characteristic vector effectively improves the navigation capability in the complex environment.
The invention also provides a magnetic beacon positioning system based on magnetic induction intensity and characteristic vectors, which comprises:
the excitation module 41 is configured to introduce two excitation signals into the dual-axis magnetic beacon to excite the dual-axis magnetic beacon to generate a spatial magnetic field;
an obtaining module 42, configured to obtain magnetic induction coefficients and eigenvector coefficients of the two solenoids;
the acquisition module 43 is configured to control the magnetometer to continuously acquire magnetic field signals at a target position, control the band-pass filter to perform filtering, and calculate a magnetic induction intensity accumulated value and a feature vector accumulated mode value of the two solenoids at the target position according to the filtered acquired data;
and the calculation module 44 is configured to fit position information of the target position according to the magnetic induction coefficients of the two solenoids, the feature vector coefficient, and the accumulated magnetic induction values and the accumulated feature vector mode values of the two solenoids at the target position.
The whole system for implementing the magnetic beacon positioning method based on magnetic induction intensity and feature vectors at least needs a signal generator, a biaxial magnetic beacon, a magnetometer, a band-pass filter and a processor, and the processor can be a server. The signal generator, the double-shaft magnetic beacon, the magnetometer and the band-pass filter are execution devices and used for receiving and executing instructions sent by the server, the server is a control device and a processing device, the server is used for controlling the signal generator, the double-shaft magnetic beacon, the magnetometer and the band-pass filter to execute corresponding operations and receiving data sent by the corresponding execution devices, the obtained data are processed, and therefore position information of the target position is fitted out to conduct navigation.
The present invention also provides a storage medium, which stores a computer program, and when the computer program is read and executed by a processor, the method implements the steps of any of the above magnetic beacon positioning methods based on magnetic induction and feature vectors.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a storage medium and used for instructing relevant hardware, and when the computer program is executed by a processor, the steps of the above embodiments of the method may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The storage medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the content of the storage medium may be increased or decreased as required by legislation and patent practice in the jurisdiction, for example, in some jurisdictions, the storage medium does not include electrical carrier signals and telecommunication signals according to legislation and patent practice.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (9)
1. A magnetic beacon positioning method based on magnetic induction intensity and a characteristic vector is characterized by comprising the following steps:
two excitation signals are introduced into the biaxial magnetic beacon to excite the biaxial magnetic beacon to generate a space magnetic field;
acquiring magnetic induction coefficients and characteristic vector coefficients of two solenoids of the biaxial magnetic beacon;
controlling a magnetometer to continuously collect magnetic field signals at a target position, controlling a band-pass filter to filter, and calculating a magnetic induction intensity accumulated value and a characteristic vector accumulated mode value of the two solenoids at the target position according to the filtered collected data;
fitting position information of the target position according to the magnetic induction coefficients and the feature vector coefficients of the two solenoids, and the accumulated magnetic induction values and the accumulated feature vector mode values of the two solenoids at the target position;
the acquiring the magnetic induction coefficients and the feature vector coefficients of the two solenoids of the biaxial magnetic beacon comprises:
controlling the magnetometer placed at a known point to continuously acquire a magnetic field signal, and controlling the band-pass filter to obtain magnetic induction intensity values of the two solenoids at the known point;
accumulating the collected magnetic induction intensity values according to a common multiple of the number of the whole-period sampling points of the two solenoids to obtain the accumulated value of the magnetic induction intensity of the two solenoids at the known point, wherein the number of the whole-period sampling points of the solenoids is the ratio of the sampling frequency of the magnetometer to the frequency of an excitation signal introduced into the solenoids;
and calculating the magnetic induction coefficients of the two solenoids according to the position information of the known point and the magnetic induction accumulated values of the two solenoids.
2. The magnetic beacon positioning method based on magnetic induction and feature vectors according to claim 1, wherein the obtaining of the magnetic induction coefficients and feature vector coefficients of the two solenoids of the dual-axis magnetic beacon comprises:
controlling the magnetometer placed at the known point to continuously acquire magnetic field signals, and controlling the band-pass filter to acquire a characteristic vector modulus value of the solenoid of each magnetic beacon at the known point;
accumulating the collected characteristic vector module values according to the common multiple of the number of the whole-period sampling points of the two solenoids to obtain the characteristic vector accumulated module values of the two solenoids at the known point;
calculating the eigenvector coefficients of the two solenoids based on the positional information of the known point and the eigenvector cumulative mode values of the two solenoids at the known point.
3. The method of claim 1, wherein the controlling the magnetometer to continuously collect magnetic field signals at a target position and the band-pass filter to perform filtering, and the calculating the accumulated values of magnetic induction intensity and the accumulated mode value of the feature vector of the two solenoids at the target position according to the filtered collected data comprises:
controlling the magnetometer to collect magnetic field signals at the target position, and then filtering the magnetic field signals through the band-pass filter to obtain magnetic induction intensity values of the two solenoids at the target position;
and accumulating the collected magnetic induction intensity according to the common multiple of the number of the whole-period sampling points of the two solenoids to obtain the accumulated value of the magnetic induction intensity of the two solenoids at the target position.
4. The magnetic beacon positioning method based on magnetic induction and feature vector as claimed in claim 1 or 3, wherein the controlling the magnetometer to continuously collect magnetic field signals at the target position and the band-pass filter to perform filtering, and the calculating the accumulated values of magnetic induction and feature vector of the two solenoids at the target position according to the filtered collected data comprises:
controlling the magnetometer to collect magnetic field signals at the target position, and then filtering the magnetic field signals through the band-pass filter to obtain characteristic vector modulus values of the two solenoids at the target position;
and accumulating the collected characteristic vector modulus values according to the common multiple of the number of the whole-period sampling points of the two solenoids to obtain the characteristic vector accumulated modulus values of the two solenoids at the target position.
5. The magnetic beacon positioning method based on magnetic induction and feature vector of claim 1, wherein the fitting the position information of the target position according to the magnetic induction coefficients of the two solenoids, the feature vector coefficients and the accumulated magnetic induction values and accumulated feature vector mode values of the two solenoids at the target position comprises:
establishing a nonlinear equation set according to the magnetic induction coefficients and the feature vector coefficients of the two solenoids and the accumulated magnetic induction values and the accumulated feature vector mode values of the two solenoids at the target position;
and solving the nonlinear equation set by a Levenberg-Marquardt-based nonlinear least square optimization algorithm, and fitting the position information of the target position.
6. A method as claimed in claim 1, wherein the excitation signal is a sinusoidal signal.
7. The magnetic beacon positioning method based on magnetic induction and feature vectors of claim 6, wherein the two excitation signals have the same amplitude, 90 ° phase difference and different frequencies.
8. A magnetic beacon positioning system based on magnetic induction and feature vectors, comprising:
the excitation module is used for introducing two excitation signals into the biaxial magnetic beacon and exciting the biaxial magnetic beacon to generate a spatial magnetic field;
the acquisition module is used for acquiring magnetic induction coefficients and characteristic vector coefficients of two solenoids of the biaxial magnetic beacon;
the acquisition module is used for controlling the magnetometer to continuously acquire magnetic field signals at a target position, controlling the band-pass filter to filter, and calculating a magnetic induction intensity accumulated value and a characteristic vector accumulated modulus value of the two solenoids at the target position according to the filtered acquired data;
and the calculation module is used for fitting the position information of the target position according to the magnetic induction intensity coefficients and the characteristic vector coefficients of the two solenoids, and the accumulated magnetic induction intensity values and the accumulated characteristic vector mode values of the two solenoids at the target position.
9. A storage medium storing a computer program which, when read and executed by a processor, implements the magnetic beacon positioning method based on magnetic induction and feature vectors according to any one of claims 1 to 7.
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| CN113074718B (en) * | 2021-04-27 | 2024-03-29 | 广东电网有限责任公司清远供电局 | Positioning method, device, equipment and storage medium |
| CN113624240B (en) * | 2021-08-13 | 2023-11-17 | 哈尔滨工业大学 | Pose recognition method and device based on magnetic induction intensity and feature vector |
| CN113720326B (en) * | 2021-09-02 | 2024-03-01 | 哈尔滨工业大学 | Magnetic beacon calibration method, device and system based on magnetic field strength characteristics |
| CN114234958B (en) * | 2021-12-21 | 2022-08-09 | 哈尔滨工业大学 | Magnetic beacon orientation method based on magnetic field characteristic value, storage medium and equipment |
| CN116793199B (en) * | 2023-08-24 | 2023-11-24 | 四川普鑫物流自动化设备工程有限公司 | Centralized multi-layer goods shelf four-way vehicle positioning system and method |
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