CN113281700A - Wireless electromagnetic positioning system and method - Google Patents
Wireless electromagnetic positioning system and method Download PDFInfo
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- CN113281700A CN113281700A CN202110426064.8A CN202110426064A CN113281700A CN 113281700 A CN113281700 A CN 113281700A CN 202110426064 A CN202110426064 A CN 202110426064A CN 113281700 A CN113281700 A CN 113281700A
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- 239000003990 capacitor Substances 0.000 claims description 61
- 230000009977 dual effect Effects 0.000 claims description 28
- 239000003381 stabilizer Substances 0.000 claims description 22
- 238000012549 training Methods 0.000 claims description 20
- 230000003321 amplification Effects 0.000 claims description 14
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 14
- 238000013528 artificial neural network Methods 0.000 claims description 13
- 238000005070 sampling Methods 0.000 claims description 10
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention provides a wireless electromagnetic positioning system and a method thereof, comprising a power supply, a receiving terminal and nine transmitting terminals; the transmitting terminal comprises a single chip microcomputer which is correspondingly connected with the power supply sources one by one, a signal conditioning circuit which is connected with the single chip microcomputer, a power amplifying circuit which is connected with the signal conditioning circuit, an RC filter circuit which is connected with the power amplifying circuit, a signal switching circuit which is connected with the RC filter circuit and a transmitting coil which is connected with the signal switching circuit; the receiving terminal comprises a receiving coil, an instrument amplifying circuit connected with the receiving coil, a low-pass filter circuit connected with the instrument amplifying circuit, an adjustable amplifying circuit connected with the low-pass filter circuit, a signal collector connected with the adjustable amplifying circuit and a processing and display device connected with the signal collector; the electromagnetic positioning is carried out, and meanwhile, the use convenience is improved.
Description
Technical Field
The invention relates to the technical field of electromagnetic positioning, in particular to a wireless electromagnetic positioning system and a wireless electromagnetic positioning method.
Background
In recent years, the magnetic positioning and tracking technology is more and more widely applied to social production and life. The current magnetic positioning and tracking technology is mainly divided into permanent magnetic positioning and electromagnetic positioning, but the positioning distance of the permanent magnetic positioning is generally not more than 30cm, and the positioning precision is easily influenced by a geomagnetic field. Electromagnetic positioning is widely applied at present and is also a wired electromagnetic positioning technology, and the operation is very inconvenient. There is a need to provide a wireless electromagnetic positioning scheme to facilitate electromagnetic positioning while improving ease of use.
Disclosure of Invention
The invention aims to provide a wireless electromagnetic positioning system and a wireless electromagnetic positioning method, which are used for realizing the technical effect of improving the use convenience while performing electromagnetic positioning.
In a first aspect, the present invention provides a wireless electromagnetic positioning system, which includes a power supply, a receiving terminal and nine transmitting terminals; the transmitting terminal comprises a single chip microcomputer which is correspondingly connected with the power supply sources one by one, a signal conditioning circuit which is connected with the single chip microcomputer, a power amplifying circuit which is connected with the signal conditioning circuit, an RC filter circuit which is connected with the power amplifying circuit, a signal switching circuit which is connected with the RC filter circuit and a transmitting coil which is connected with the signal switching circuit; the receiving terminal comprises a receiving coil, an instrument amplifying circuit connected with the receiving coil, a low-pass filter circuit connected with the instrument amplifying circuit, an adjustable amplifying circuit connected with the low-pass filter circuit, a signal collector connected with the adjustable amplifying circuit, and a processing and display device connected with the signal collector.
Furthermore, the wireless electromagnetic positioning system also comprises a power supply module connected with the transmitting terminal; the power supply module comprises a power supply change-over switch; the power supply port is connected with the public end of the power supply changeover switch; a first power supply circuit connected to a first connection terminal of the power supply changeover switch; and the second power supply circuit is connected with the second connecting terminal of the power supply changeover switch.
Further, the first power supply circuit comprises a first LC filter circuit, a first power supply terminal, a first voltage stabilizer, a first capacitor filter circuit, a second power supply terminal, a second voltage stabilizer, a second capacitor filter circuit and a third power supply terminal; an input end of the first LC filter circuit is connected with the first connection terminal; the first power supply terminal and the output end of the first LC filter circuit are both connected with the input end of the first voltage stabilizer; the input end of the first capacitor filter circuit and the second power supply terminal are both connected with the output end of the first voltage stabilizer; the input end of the second voltage stabilizer is connected with the output end of the first capacitor filter circuit; the input end of the second capacitor filter circuit is connected with the input end of the second voltage stabilizer; the third power supply terminal is connected with the output end of the second capacitor filter circuit; the second power supply circuit comprises a fourth power supply terminal, a second LC filter circuit, a third voltage stabilizer, a third capacitor filter circuit and a fifth power supply terminal; the input end of the second LC filter circuit is connected with the second connecting terminal; the output end of the second LC filter circuit and the fourth power supply terminal are both connected with the input end of the third voltage stabilizer; the input end of the third capacitor filter circuit is connected with the output end of the third voltage stabilizer; and the fifth power supply terminal is connected with the output end of the third capacitor filter circuit.
Further, the power amplification circuit includes an emitter follower connected to the signal conditioning circuit; a class D stereo amplifier connected to the emitter follower; and a third LC filter circuit connected to the class D stereo amplifier; and the RC buffer circuit is connected with the third LC filter circuit.
Further, the instrument amplifying circuit comprises an instrument amplifier, a first adjustable resistor, a positive voltage input filter circuit and a negative voltage input filter circuit; the input end of the instrument amplifier is connected with the receiving coil; the first adjustable resistor is arranged between two gain adjusting pins of the instrument amplifier; the positive voltage input filter circuit is connected with a positive voltage input pin of the instrument amplifier; and the negative voltage input filter circuit is connected with a negative voltage input pin of the instrumentation amplifier.
Further, the low-pass filter circuit comprises a first dual operational amplifier, a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, a third capacitor and a fourth capacitor; the first end of the first resistor is connected with the output end of the instrumentation amplifier; the first end of the first capacitor and the first end of the second resistor are both connected with the second end of the first resistor; the second end of the second resistor and the first end of the second capacitor are both connected with the first non-inverting input end of the first double operational amplifier; the second end of the second capacitor is grounded; the first end of the third resistor, the second end of the first capacitor and the first output end of the first dual operational amplifier are all connected with the first inverting input end of the first dual operational amplifier; the second end of the third resistor and the first end of the third capacitor are both connected with the first end of the fourth resistor; the second output end and the second inverting input end of the first dual operational amplifier and the second end of the third capacitor are connected with the input end of the adjustable amplifying circuit; a second end of the fourth resistor and a first end of the fourth capacitor are both connected with a second non-inverting input end of the first dual operational amplifier; and the second end of the fourth capacitor is grounded.
Further, the adjustable amplifying circuit comprises a second dual operational amplifier, a second adjustable resistor, a fifth resistor and a fifth capacitor; the first non-inverting input end of the second double operational amplifier is connected with the second output end of the first double operational amplifier; the first end of the second adjustable resistor and the first end of the fifth resistor are both connected with the first inverting input end of the second double-operational amplifier; the second end and the sliding end of the second adjustable resistor are both connected with the first output end of the second dual operational amplifier; the signal collector is connected with the first output end of the second double operational amplifier.
In a second aspect, the present invention provides a wireless electromagnetic positioning method, which is applied to the wireless electromagnetic positioning system, and includes:
after each transmitting terminal is electrified, the transmitting coil of each transmitting terminal is started through a signal switching circuit according to a time-sharing working mode, and a sine signal generated by a singlechip is converted into an electromagnetic wave signal with constant power and transmitted;
a receiving coil of the receiving terminal generates a corresponding induced electromotive force signal according to the electromagnetic wave signal; the induced electromotive force signals are amplified and filtered by an instrument amplifying circuit, a low-pass filter circuit and an adjustable amplifying circuit in sequence, and then sampling values of the induced electromotive force signals are obtained through a signal collector;
and the processing and display device performs FFT (fast Fourier transform) on the sampling numerical value to obtain a corresponding amplitude and frequency, and calculates the amplitude and frequency by using an LM (Linear modeling) algorithm for obtaining an initial value by training a PKBPNN (public key business neural network) to obtain the position information of the receiving terminal and displays the position information.
Further, the method further comprises a PKBPNN neural network training process:
placing a transmitting coil of a transmitting terminal and a receiving coil of a receiving terminal on a testing device; the testing device comprises a first placing plate, a supporting frame connected with the first placing plate, and a second placing plate installed on the supporting frame; the first placing plate and the second placing plate are parallel to each other and are provided with positioning points; the transmitting coil is placed on the first placing plate in a manner of nine-square grid arrangement, and the receiving coil is placed on the second placing plate;
starting each transmitting coil according to a time-sharing working mode;
the processing and displaying device obtains the sampling value of the induced electromotive force signal collected by the signal collector in the receiving terminal and carries out FFT conversion;
and (3) using the signals after the FFT transformation as a training sample set, and performing initial value training through a PKBPNN neural network to obtain an initial value of the LM algorithm.
Further, the method further comprises: optimizing the PKBPNN neural network model by a loss function with a priori knowledge:
minED＝min{En+EP}
in the formula, EDRepresenting a target loss function; enA loss function representing a general neural network model; epRepresenting a penalty function; sigma1、σ2And σ3A penalty factor coefficient representing a penalty function;
vector Y 'representing the actual output of the PKBPNN neural network'tA component of (a); y istRepresenting a target desired value; l ismaxRepresents the maximum length of the positioning space; wmaxRepresents the maximum width of the localization space; hmaxRepresents the maximum height of the positioning space; n represents the number of training samples; t represents the sample data of the t-th training required.
The beneficial effects that the invention can realize are as follows: the wireless electromagnetic positioning system and the method provided by the invention can send out electromagnetic signals in a time-sharing working mode through the nine transmitting terminals; the receiving terminal receives each electromagnetic signal, then carries out filtering amplification processing, and then carries out signal acquisition through the signal acquisition device and sends the signal to the processing and display device; the processing and display device carries out positioning and display according to the signals converted by the FFT by the PKBPNN neural network model obtained through LM algorithm training, and improves the use convenience while carrying out electromagnetic positioning.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic topological structure diagram of a wireless electromagnetic positioning system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a power module according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a power amplifier circuit according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a meter amplifier circuit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a low pass filter circuit according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an adjustable amplifying circuit according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a testing apparatus according to an embodiment of the present invention;
fig. 8 is a schematic general flowchart of a wireless electromagnetic positioning method according to an embodiment of the present invention.
Icon: 10-a wireless electromagnetic positioning system; 100-a power supply; 200-a transmitting terminal; 210-a single chip microcomputer; 220-signal conditioning circuitry; 230-a power amplification circuit; 231-emitter follower; a 232-class D stereo amplifier; 233-a third LC filter circuit; 234-RC buffer circuit; 240-RC filter circuit; 250-a signal switching circuit; 260-a transmitting coil; 300-a receiving terminal; 310-a receiving coil; 320-instrument amplification circuit; 321-positive voltage input filter circuit; 322-negative voltage input filter circuit; 330-a low-pass filter circuit; 340-an adjustable amplification circuit; 350-a signal collector; 360-processing and display means; 400-a power supply module; 410-a first power supply circuit; 411 — first LC filter circuit; 412-a first voltage regulator; 413-a first capacitive filter circuit; 414-a second voltage regulator; 415-a second capacitive filter circuit; 420-a second power supply circuit; 421-a second LC filter circuit; 422-a third voltage regulator; 423-third capacitive filter circuit; 500-a test device; 510-a first placing plate; 520-a support frame; 530-second resting plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a schematic diagram of a topology structure of a wireless electromagnetic positioning system according to an embodiment of the present invention.
In one embodiment, the wireless electromagnetic positioning system 10 provided by the embodiment of the present invention includes a power supply 100, one receiving terminal 300, and nine transmitting terminals 200; the transmitting terminal 200 comprises a single chip microcomputer 210 connected with the power supply 100 in a one-to-one correspondence manner, a signal conditioning circuit 220 connected with the single chip microcomputer 210, a power amplifying circuit 230 connected with the signal conditioning circuit 220, an RC filter circuit 240 connected with the power amplifying circuit 230, a signal switching circuit 250 connected with the RC filter circuit 240, and a transmitting coil 260 connected with the signal switching circuit 250; the receiving terminal 300 includes a receiving coil 310, a meter amplifying circuit 320 connected with the receiving coil 310, a low pass filter circuit 330 connected with the meter amplifying circuit 320, an adjustable amplifying circuit 340 connected with the low pass filter circuit 330, a signal collector 350 connected with the adjustable amplifying circuit 340, and a processing and display device 360 connected with the signal collector 350.
In the implementation process, the DMA of the single chip 210 generates 1 path of sinusoidal signals with breakpoints, and the 1 path of sinusoidal signals is output to the input end of the power amplifier through the IO port, and since the output power is to be adjustable, the signal conditioning circuit 220 is added to the input end of the power amplification circuit 230, the signals are input to the power amplification circuit 230 after passing through the signal conditioning circuit 220, and the power amplification circuit 230 performs power amplification on the sinusoidal signals. The amplified signal passes through the RC filter circuit 240, is filtered by the differential mode filter circuit, and then is transmitted to the transmitting coil 260 by controlling the signal switching circuit 250, and the transmitting coil 260 transmits the electromagnetic signal into the positioning space. The receiving coil 310 converts the received electromagnetic signal into an induced electromotive force; then, after filtering and amplifying processing is performed through the meter amplifying circuit 320, the low-pass filtering circuit 330 and the adjustable amplifying circuit 340, the signals are collected through the signal collector 350 and sent to the processing and displaying device 360, and after the processing and displaying device 360 performs processing FFT conversion on the collected signals, a pre-trained PKBPNN neural network model is used for analyzing, so that the positioning information of the receiving coil 310 is obtained.
As shown in fig. 2, in one embodiment, the wireless electromagnetic positioning system 10 further comprises a power module 400 connected to the transmitting terminal 200; the power supply module 400 includes a power supply changeover switch S1; a power supply port (VCC) connected to the common terminal of the power supply changeover switch S1; a first power supply circuit 410 connected to a first connection terminal of the power supply changeover switch; and a second power supply circuit 420 connected to the second connection terminal of the power supply changeover switch.
Specifically, the power supply change-over switch can be a single-pole double-throw switch or a group of normally open and normally closed contacts of a relay; the first power supply circuit comprises a first LC filter circuit 411, a first power supply terminal (VCC _24V1), a first voltage stabilizer 412, a first capacitance filter circuit 413, a second power supply terminal (VCC _ 5V), a second voltage stabilizer 414, a second capacitance filter circuit 415 and a third power supply terminal (VCC _ 3.3V); the input terminal of the first LC filter circuit 411 is connected to the first connection terminal; the first power supply terminal and the output terminal of the first LC filter circuit 411 are both connected to the input terminal of the first regulator 412; the input end and the second power supply terminal of the first capacitor filter circuit 413 are both connected with the output end of the first voltage stabilizer 412; the input end of the second voltage stabilizer 414 is connected with the output end of the first capacitor filter circuit 413; the input end of the second capacitor filter circuit 415 is connected with the input end of the second voltage stabilizer 414; the third power supply terminal is connected to the output terminal of the second capacitor filter circuit 415; the second power supply circuit comprises a fourth power supply terminal (VCC _24V2), a second LC filter circuit 421, a third voltage regulator 422, a third capacitive filter circuit 423 and a fifth power supply terminal (VCC _ 5V); the input end of the second LC filter circuit 421 is connected to the second connection terminal; the output end of the second LC filter circuit 421 and the fourth power supply terminal are both connected to the input end of the third regulator 422; the input end of the third capacitor filter circuit 423 is connected with the output end of the third voltage stabilizer 422; the fifth power supply terminal is connected to the output terminal of the third capacitor filter circuit 423.
As shown in fig. 3, in one embodiment, the power amplification circuit 230 includes an emitter follower 231 connected to the signal conditioning circuit 220; a class D stereo amplifier 232 connected to the emitter follower 231; and a third LC filter circuit 233 connected to the class D stereo amplifier 232; and an RC buffer circuit 234 connected to the third LC filter circuit 233.
Specifically, the single chip microcomputer 210 may be an STM32 series single chip microcomputer, such as STM32F103RCT 6. The signal conditioning circuit 220 may be any of various circuits commonly used at present. The signal collector 350 may use a PCI8621 high-speed multi-channel data collection card manufactured by altai corporation, which is compatible with the PCI slot of a computer by bus control. The signal switching circuit 250 may be a switching circuit composed of solid-state relays. The class D stereo amplifier 232 in the power amplifier circuit 230 may employ a digital power amplifier TPA3116, and the emitter follower 231 may employ an LM 7321; the LM7321 mainly functions to couple the input impedance of the single chip microcomputer 210 and the power amplifier, and converts the unipolar signal from the single chip microcomputer 210 into the bipolar signal required by the power amplifier.
Referring to fig. 4, fig. 5 and fig. 6, fig. 4 is a schematic diagram of a meter amplifying circuit according to an embodiment of the present invention; FIG. 5 is a schematic diagram of a low pass filter circuit according to an embodiment of the present invention; fig. 6 is a schematic diagram of an adjustable amplifying circuit according to an embodiment of the present invention.
As shown in fig. 4, in one embodiment, the meter amplification circuit 320 includes a meter amplifier U1, a first adjustable resistor R4, a positive voltage input filter circuit 321, and a negative voltage input filter circuit 322; the input end of the instrumentation amplifier is connected with the receiving coil 310; the first adjustable resistor is arranged between two gain adjusting pins of the instrument amplifier; the positive voltage input filter circuit 321 is connected with a positive voltage input pin of the instrumentation amplifier; the negative voltage input filter circuit 322 is connected to the negative voltage input pin of the instrumentation amplifier.
As shown in fig. 5, in one embodiment, the low pass filter circuit 330 includes a first dual operational amplifier U2, a first resistor R6, a second resistor R7, a third resistor R8, a fourth resistor R9, a first capacitor C6, a second capacitor C5, a third capacitor C8, and a fourth capacitor C7; a first end of the first resistor R6 is connected with the output end of the instrumentation amplifier U1; a first end of the first capacitor C6 and a first end of the second resistor R7 are both connected with a second end of the first resistor R6; the second end of the second resistor R7 and the first end of the second capacitor C5 are both connected with the first non-inverting input end of the first dual operational amplifier U2; the second end of the second capacitor C5 is grounded; the first end of the third resistor R8, the second end of the first capacitor C6, and the first output end of the first dual operational amplifier U2 are all connected to the first inverting input end of the first dual operational amplifier U2; the second end of the third resistor R8 and the first end of the third capacitor C8 are both connected with the first end of the fourth resistor R9; the second output end and the second inverting input end of the first dual operational amplifier U2 and the second end of the third capacitor C8 are both connected with the input end of the adjustable amplifying circuit 340; a second end of the fourth resistor R9 and a first end of the fourth capacitor C7 are both connected to a second non-inverting input terminal of the first dual operational amplifier U2; the second terminal of the fourth capacitor C7 is connected to ground.
As shown in fig. 6, the adjustable amplifying circuit 340 includes a second dual operational amplifier U3, a second adjustable resistor R14, a fifth resistor R13 and a fifth capacitor C10; the first non-inverting input terminal of the second dual operational amplifier U3 is connected to the second output terminal of the first dual operational amplifier U2; a first end of the second adjustable resistor R14 and a first end of the fifth resistor R13 are both connected with a first inverting input terminal of a second dual operational amplifier U3; the second end and the sliding end of the second adjustable resistor R14 are both connected with the first output end of the second dual operational amplifier U3; the signal collector 350 is connected to a first output terminal of a second dual operational amplifier U3.
In the implementation, the instrumentation amplifier may be in the form of INA129, and the first dual operational amplifier and the second dual operational amplifier may be in the form of OPA 2228. The meter amplifying circuit 320, the low-pass filter circuit 330 and the adjustable amplifying circuit 340 can effectively increase the positioning distance, so that a larger positioning space can be conveniently positioned.
Referring to fig. 7 and 8, fig. 7 is a schematic structural diagram of a testing apparatus according to an embodiment of the present invention; fig. 8 is a schematic general flowchart of a wireless electromagnetic positioning method according to an embodiment of the present invention.
In an implementation manner, an embodiment of the present invention further provides a wireless electromagnetic positioning method, which is applied to the wireless electromagnetic positioning system, and includes:
s1, after each transmitting terminal is electrified, a transmitting coil of each transmitting terminal is started through a signal switching circuit according to a time-sharing working mode, and a sinusoidal signal generated by a singlechip is converted into an electromagnetic wave signal with constant power and transmitted;
s2, a receiving coil of the receiving terminal generates a corresponding induced electromotive force signal according to the electromagnetic wave signal; the induced electromotive force signals are amplified and filtered by an instrument amplifying circuit, a low-pass filter circuit and an adjustable amplifying circuit in sequence, and then sampling values of the induced electromotive force signals are obtained through a signal collector;
and S3, the processing and display device performs FFT (fast Fourier transform) on the sampling numerical value to obtain a corresponding amplitude and frequency, and calculates the amplitude and frequency by using an LM (Linear modeling) algorithm for obtaining an initial value by PKBPNN (public key business neural network) training to obtain the position information of the receiving terminal and displays the position information.
Specifically, assuming that the placement position of the receiving coil is a point P (a, b, c), the placement position of the transmitting coil is an origin O (x, y, z), Hp(m ', n ', p ') represents the directional position of the receiver coil relative to the transmitter coil, and the positioning of the receiver coil can be calculated according to the following formula:
in the above formula, BTIs a constant in the magnetic field; b isa、Bb、BcThree orthogonal components representing the magnetic induction generated by the receiving coil at point P in a coordinate system within the transmitting coil; n represents the number of turns of the receiving coil; s represents the area of a spatial curved surface of magnetic induction distribution; r represents the distance from the receiving coil to the transmitting coil; r represents a rotation matrix; emaxRepresenting an induced electromotive force amplitude of the receiving coil; b'maxRepresenting the amplitude of the electromagnetic field intensity in the axial direction of the receiving coil;
representing the angle of rotation of the current pose of the receive coil relative to the x-axis of the coordinate system of the transmit coil; θ represents the angle by which the current pose of the receive coil is rotated relative to the y-axis of the coordinate system of the transmit coil; phi denotes the angle by which the current pose of the receive coil is rotated relative to the z-axis of the coordinate system of the transmit coil.
Specifically, when the receiving coil generates a corresponding induced electromotive force according to an electromagnetic wave signal transmitted by the transmitting coil, and the induced electromotive force is amplified and filtered by the instrument amplifying circuit, the low-pass filter circuit and the adjustable amplifying circuit, a corresponding sampling value can be obtained by the signal collector, then the amplitude of the induced electromotive force is obtained by FTT conversion, and finally, the 3-dimensional coordinate and the 2-dimensional direction information in the receiving coil are obtained by performing reverse operation through the formulas (1), (2) and (3), so that wireless electromagnetic positioning is realized.
In one embodiment, the method further includes a training process of the PKBPNN neural network model:
a. placing a transmitting coil of a transmitting terminal and a receiving coil of a receiving terminal on a testing device; the testing device comprises a first placing plate, a supporting frame connected with the first placing plate, and a second placing plate installed on the supporting frame; the first placing plate and the second placing plate are parallel to each other and are provided with positioning points; the transmitting coil is placed on the first placing plate in a manner of nine-square grid arrangement, and the receiving coil is placed on the second placing plate;
b. starting each transmitting coil according to a time-sharing working mode;
c. the processing and displaying device obtains the sampling value of the induced electromotive force signal collected by the signal collector in the receiving terminal and carries out FFT conversion;
d. and (3) using the signals after the FFT transformation as a training sample set, and performing initial value training through a PKBPNN neural network to obtain an initial value of the LM algorithm.
Specifically, in the training process, a PKBPNN neural network structure including a three-layer structure of an input layer, a hidden layer, and an output layer may be selected. The position of each transmitting coil and the position and the pose of each receiving coil can be preset on the testing device; then electrifying and starting each signal switching circuit in a time-sharing working mode, and transmitting electromagnetic wave signals through a transmitting coil; the receiving coil generates corresponding induced electromotive force according to each electromagnetic wave signal, processes the induced electromotive force through each subsequent circuit, sends the induced electromotive force to the processing and displaying device for FFT conversion, obtains data such as each amplitude value, frequency and the like after conversion as input of the PKBPNN, trains the PKBPNN, and obtains an initial value of the LM algorithm.
In the implementation process, in order to improve the accuracy of the positioning result of the PKBPNN neural network model and reduce the error, the method further includes: the PKBPNN neural network is optimized through a loss function with a priori knowledge:
minED＝min{En+EP}
in the formula, EDRepresenting a target loss function; enA loss function representing a general neural network model; epRepresenting a penalty function; sigma1、σ2And σ3A penalty factor coefficient representing a penalty function;
vector Y 'representing the actual output of the PKBPNN neural network'tA component of (a); y istRepresenting a target desired value; l ismaxRepresents the maximum length of the positioning space; wmaxRepresents the maximum width of the localization space; hmaxRepresents the maximum height of the positioning space; n represents the number of training samples; t represents the sample data of the t-th training required.
In summary, the embodiment of the present invention provides a wireless electromagnetic positioning system and method, including a power supply, a receiving terminal and nine transmitting terminals; the transmitting terminal comprises a single chip microcomputer which is connected with the power supply in a one-to-one correspondence manner, a signal conditioning circuit which is connected with the single chip microcomputer, a power amplifying circuit which is connected with the signal conditioning circuit, a filter circuit which is connected with the power amplifying circuit, a signal switching circuit which is connected with the filter circuit, and a transmitting coil which is connected with the signal switching circuit; the receiving terminal comprises a receiving coil, an instrument amplifying circuit connected with the receiving coil, a low-pass filter circuit connected with the instrument amplifying circuit, an adjustable amplifying circuit connected with the low-pass filter circuit, a signal collector connected with the adjustable amplifying circuit and a processing and display device connected with the signal collector; the electromagnetic positioning is carried out, and meanwhile, the use convenience is improved.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A wireless electromagnetic positioning system is characterized by comprising a power supply, a receiving terminal and nine transmitting terminals; the transmitting terminal comprises a single chip microcomputer which is correspondingly connected with the power supply sources one by one, a signal conditioning circuit which is connected with the single chip microcomputer, a power amplifying circuit which is connected with the signal conditioning circuit, an RC filter circuit which is connected with the power amplifying circuit, a signal switching circuit which is connected with the RC filter circuit and a transmitting coil which is connected with the signal switching circuit; the receiving terminal comprises a receiving coil, an instrument amplifying circuit connected with the receiving coil, a low-pass filter circuit connected with the instrument amplifying circuit, an adjustable amplifying circuit connected with the low-pass filter circuit, a signal collector connected with the adjustable amplifying circuit, and a processing and display device connected with the signal collector.
2. The wireless electromagnetic positioning system of claim 1, further comprising a power module connected to the transmitting terminal; the power supply module comprises a power supply change-over switch; the power supply port is connected with the public end of the power supply changeover switch; a first power supply circuit connected to a first connection terminal of the power supply changeover switch; and the second power supply circuit is connected with the second connecting terminal of the power supply changeover switch.
3. The wireless electromagnetic positioning system of claim 1, wherein the first power circuit comprises a first LC filter circuit, a first power supply terminal, a first voltage regulator, a first capacitive filter circuit, a second power supply terminal, a second voltage regulator, a second capacitive filter circuit, and a third power supply terminal; an input end of the first LC filter circuit is connected with the first connection terminal; the first power supply terminal and the output end of the first LC filter circuit are both connected with the input end of the first voltage stabilizer; the input end of the first capacitor filter circuit and the second power supply terminal are both connected with the output end of the first voltage stabilizer; the input end of the second voltage stabilizer is connected with the output end of the first capacitor filter circuit; the input end of the second capacitor filter circuit is connected with the input end of the second voltage stabilizer; the third power supply terminal is connected with the output end of the second capacitor filter circuit; the second power supply circuit comprises a fourth power supply terminal, a second LC filter circuit, a third voltage stabilizer, a third capacitor filter circuit and a fifth power supply terminal; the input end of the second LC filter circuit is connected with the second connecting terminal; the output end of the second LC filter circuit and the fourth power supply terminal are both connected with the input end of the third voltage stabilizer; the input end of the third capacitor filter circuit is connected with the output end of the third voltage stabilizer; and the fifth power supply terminal is connected with the output end of the third capacitor filter circuit.
4. The wireless electromagnetic positioning system of claim 1 wherein the power amplification circuit comprises an emitter follower connected to the signal conditioning circuit; a class D stereo amplifier connected to the emitter follower; and a third LC filter circuit connected to the class D stereo amplifier; and the RC buffer circuit is connected with the third LC filter circuit.
5. The wireless electromagnetic positioning system of claim 1, wherein the meter amplification circuit comprises a meter amplifier, a first adjustable resistor, a positive voltage input filter circuit, and a negative voltage input filter circuit; the input end of the instrument amplifier is connected with the receiving coil; the first adjustable resistor is arranged between two gain adjusting pins of the instrument amplifier; the positive voltage input filter circuit is connected with a positive voltage input pin of the instrument amplifier; and the negative voltage input filter circuit is connected with a negative voltage input pin of the instrumentation amplifier.
6. The wireless electromagnetic positioning system of claim 5 wherein the low pass filter circuit comprises a first dual operational amplifier, a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, a third capacitor, and a fourth capacitor; the first end of the first resistor is connected with the output end of the instrumentation amplifier; the first end of the first capacitor and the first end of the second resistor are both connected with the second end of the first resistor; the second end of the second resistor and the first end of the second capacitor are both connected with the first non-inverting input end of the first double operational amplifier; the second end of the second capacitor is grounded; the first end of the third resistor, the second end of the first capacitor and the first output end of the first dual operational amplifier are all connected with the first inverting input end of the first dual operational amplifier; the second end of the third resistor and the first end of the third capacitor are both connected with the first end of the fourth resistor; the second output end and the second inverting input end of the first dual operational amplifier and the second end of the third capacitor are connected with the input end of the adjustable amplifying circuit; a second end of the fourth resistor and a first end of the fourth capacitor are both connected with a second non-inverting input end of the first dual operational amplifier; and the second end of the fourth capacitor is grounded.
7. The wireless electromagnetic positioning system of claim 6 wherein the adjustable amplification circuit comprises a second dual operational amplifier, a second adjustable resistor, a fifth resistor, and a fifth capacitor; the first non-inverting input end of the second double operational amplifier is connected with the second output end of the first double operational amplifier; the first end of the second adjustable resistor and the first end of the fifth resistor are both connected with the first inverting input end of the second double-operational amplifier; the second end and the sliding end of the second adjustable resistor are both connected with the first output end of the second dual operational amplifier; the signal collector is connected with the first output end of the second double operational amplifier.
8. A wireless electromagnetic positioning method applied to the wireless electromagnetic positioning system of any one of claims 1 to 7, comprising:
after each transmitting terminal is electrified, the transmitting coil of each transmitting terminal is started through a signal switching circuit according to a time-sharing working mode, and a sine signal generated by a singlechip is converted into an electromagnetic wave signal with constant power and transmitted;
a receiving coil of the receiving terminal generates a corresponding induced electromotive force signal according to the electromagnetic wave signal; the induced electromotive force signals are amplified and filtered by an instrument amplifying circuit, a low-pass filter circuit and an adjustable amplifying circuit in sequence, and then sampling values of the induced electromotive force signals are obtained through a signal collector;
and the processing and display device performs FFT (fast Fourier transform) on the sampling numerical value to obtain a corresponding amplitude and frequency, and calculates the amplitude and frequency by using an LM (Linear modeling) algorithm for obtaining an initial value by training a PKBPNN (public key business neural network) to obtain the position information of the receiving terminal and displays the position information.
9. The method of claim 8, further comprising a PKBPNN neural network training process:
placing a transmitting coil of a transmitting terminal and a receiving coil of a receiving terminal on a testing device; the testing device comprises a first placing plate, a supporting frame connected with the first placing plate, and a second placing plate installed on the supporting frame; the first placing plate and the second placing plate are parallel to each other and are provided with positioning points; the transmitting coil is placed on the first placing plate in a manner of nine-square grid arrangement, and the receiving coil is placed on the second placing plate;
starting each transmitting coil according to a time-sharing working mode;
the processing and displaying device obtains the sampling value of the induced electromotive force signal collected by the signal collector in the receiving terminal and carries out FFT conversion;
and (3) using the signals after the FFT transformation as a training sample set, and performing initial value training through a PKBPNN neural network to obtain an initial value of the LM algorithm.
10. The method of claim 9, further comprising: optimizing the PKBPNN neural network model by a loss function with a priori knowledge:
min ED＝min{En+EP}
in the formula, EDRepresenting a target loss function; enA loss function representing a general neural network model; epRepresenting a penalty function; sigma1、σ2And σ3A penalty factor coefficient representing a penalty function;
vector Y 'representing the actual output of the PKBPNN neural network'tA component of (a); y istRepresenting a target desired value; l ismaxRepresents the maximum length of the positioning space; wmaxRepresents the maximum width of the localization space; hmaxRepresents the maximum height of the positioning space; n represents the number of training samples; t represents the sample data of the t-th training required.
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