CN113281700B - Wireless electromagnetic positioning system and method - Google Patents
Wireless electromagnetic positioning system and method Download PDFInfo
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- CN113281700B CN113281700B CN202110426064.8A CN202110426064A CN113281700B CN 113281700 B CN113281700 B CN 113281700B CN 202110426064 A CN202110426064 A CN 202110426064A CN 113281700 B CN113281700 B CN 113281700B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000012545 processing Methods 0.000 claims abstract description 25
- 230000003750 conditioning effect Effects 0.000 claims abstract description 21
- 239000003990 capacitor Substances 0.000 claims description 39
- 238000012549 training Methods 0.000 claims description 25
- 230000003321 amplification Effects 0.000 claims description 24
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 24
- 239000003381 stabilizer Substances 0.000 claims description 21
- 238000013528 artificial neural network Methods 0.000 claims description 18
- 238000012360 testing method Methods 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 11
- 238000003062 neural network model Methods 0.000 claims description 11
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Classifications
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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 wireless electromagnetic positioning method, wherein the wireless electromagnetic positioning system comprises a power supply, a receiving terminal and nine transmitting terminals; the transmitting terminal comprises a singlechip, a signal conditioning circuit, a power amplifying circuit, an RC filter circuit and a signal switching circuit, wherein the singlechip is connected with the power supply in a one-to-one correspondence manner, the signal conditioning circuit is connected with the singlechip, the power amplifying circuit is connected with the signal conditioning circuit, the RC filter circuit is connected with the power amplifying circuit, the signal switching circuit is connected with the RC filter circuit, and the transmitting coil 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 performed, and meanwhile, the convenience in use is improved.
Description
Technical Field
The invention relates to the technical field of electromagnetic positioning, in particular to a wireless electromagnetic positioning system and method.
Background
In recent years, magnetic positioning and tracking technology is increasingly used in social production and life. The existing magnetic positioning and tracking technology is mainly divided into permanent magnet positioning and electromagnetic positioning, but the positioning distance of the permanent magnet positioning is generally not more than 30cm, and the positioning accuracy is easily affected by the geomagnetic field. The electromagnetic positioning is widely applied at present and is also a wired electromagnetic positioning technology, and the operation is very inconvenient. It is desirable to provide a wireless electromagnetic positioning scheme to facilitate ease of use while performing electromagnetic positioning.
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 convenience of use while carrying out electromagnetic positioning.
In a first aspect, the present invention provides a wireless electromagnetic positioning system, including a power supply, a receiving terminal, and nine transmitting terminals; the transmitting terminal comprises a singlechip, a signal conditioning circuit, a power amplifying circuit, an RC filter circuit and a signal switching circuit, wherein the singlechip is connected with the power supply in a one-to-one correspondence manner, the signal conditioning circuit is connected with the singlechip, the power amplifying circuit is connected with the signal conditioning circuit, the RC filter circuit is connected with the power amplifying circuit, the signal switching circuit is connected with the RC filter circuit, and the transmitting coil 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.
Further, the wireless electromagnetic positioning system further comprises a power module connected with the transmitting terminal; the power supply module comprises a power supply change-over switch; a power port connected with the common end of the power supply change-over switch; a first power supply circuit connected to a first connection terminal of the power supply changeover switch; and a second power supply circuit connected to the second connection 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 capacitance filter circuit, a second power supply terminal, a second voltage stabilizer, a second capacitance filter circuit and a third power supply terminal; the input end of the first LC filter circuit is connected with the first connecting terminal; the output ends of the first power supply terminal and the first LC filter circuit are connected with the input end of the first voltage stabilizer; the input end of the first capacitance filter circuit and the second power supply terminal are 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 capacitance filter circuit; the input end of the second capacitance 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 capacitance filter circuit; the second power supply circuit comprises a fourth power supply terminal, a second LC filter circuit, a third voltage stabilizer, a third capacitance 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 connected with the input end of the third voltage stabilizer; the input end of the third capacitance 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 capacitance filter circuit.
Further, the power amplification circuit comprises an emitter follower connected with 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 adjustment pins of the instrumentation amplifier; the positive voltage input filter circuit is connected with a positive voltage input pin of the instrument amplifier; the negative voltage input filter circuit is connected with a negative voltage input pin of the instrument amplifier.
Further, the low-pass filter circuit comprises a first double 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 instrument amplifier; the first end of the first capacitor and the first end of the second resistor are 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 connected with the first non-inverting input end of the first dual-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 connected with the first end of the fourth resistor; the second output end and the second inverting input end of the first double operational amplifier and the second end of the third capacitor are connected with the input end of the adjustable amplifying circuit; the second end of the fourth resistor and the first end of the fourth capacitor are connected with the second non-inverting input end of the first double-operational amplifier; the second end of the fourth capacitor is grounded.
Further, the adjustable amplifying circuit comprises a second double operational amplifier, a second adjustable resistor, a fifth resistor and a fifth capacitor; the first non-inverting input end of the second double-operation amplifier is connected with the second output end of the first double-operation amplifier; the first end of the second adjustable resistor and the first end of the fifth resistor are 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 connected with the first output end of the second double-operation amplifier; the signal collector is connected with the first output end of the second double-operation 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 coils of each transmitting terminal are started in a time-sharing working mode through a signal switching circuit, and sinusoidal signals generated by the singlechip are converted into electromagnetic wave signals 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 method comprises the steps that after the induced electromotive force signals are subjected to amplification and filtering processing through an instrument amplification circuit, a low-pass filter circuit and an adjustable amplification circuit in sequence, sampling values of the induced electromotive force signals are obtained through a signal collector;
and the processing and displaying device performs FFT conversion on the sampling value to obtain corresponding amplitude and frequency, calculates the amplitude and the frequency by using an LM algorithm for obtaining an initial value through PKBPNN neural network training, and obtains and displays the position information of the receiving terminal.
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 arranged 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 coils are placed on the first placing plate in a nine-grid arrangement mode, and the receiving coils are placed on the second placing plate;
starting each transmitting coil according to a time-sharing working mode;
the processing and displaying device acquires the sampling value of the induced electromotive force signal acquired by the signal acquisition device in the receiving terminal and performs FFT conversion;
and performing initial value training by using the signals after FFT conversion as a training sample set 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:
minE D ＝min{E n +E P }
wherein E is D Representing a target loss function; e (E) n Representing a loss function of a general neural network model; e (E) p Representing penalty functions；σ 1 、σ 2 Sum sigma 3 Penalty factor coefficients representing penalty functions;vector Y 'representing actual output of PKBPNN neural network' t Components of (2); y is Y t Representing a target expected value; l (L) max Representing the maximum length of the positioning space; w (W) max Representing the maximum width of the positioning space; h max Representing the maximum height of the positioning space; n represents the number of training samples; t represents the sample data for which the t-th training is required.
The invention has the beneficial effects that: according to the wireless electromagnetic positioning system and method provided by the invention, electromagnetic signals can be sent out in a time-sharing working mode through nine transmitting terminals; the receiving terminal receives all electromagnetic signals, performs filtering and amplifying treatment, and then performs signal acquisition through the signal acquisition device and sends the signal to the processing and display device; the PKBPNN neural network model obtained by training the processing and display device through the LM algorithm is positioned and displayed according to the FFT converted signals, and the convenience of use is improved while electromagnetic positioning is performed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed 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 should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a topology structure 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 amplifying circuit according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an amplifying circuit of an instrument 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 device according to an embodiment of the present invention;
fig. 8 is a general flow chart 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-transmitting terminal; 210-a singlechip; 220-a signal conditioning circuit; 230-a power amplifying circuit; 231-emitter follower; a 232-D class stereo amplifier; 233-a third LC filter circuit; 234-RC buffer circuit; a 240-RC filter circuit; 250-signal switching circuit; 260-transmitting coil; 300-receiving terminal; 310-receiving coils; 320-an instrumentation amplification circuit; 321-positive voltage input filter circuit; 322-negative voltage input filter circuit; 330-a low pass filter circuit; 340-an adjustable amplifying circuit; 350-a signal collector; 360-processing and display device; 400-a power module; 410-a first power supply circuit; 411-a 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-a third capacitive filter circuit; 500-testing device; 510-a first placement plate; 520-supporting frame; 530-second placement plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish 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 topological structure diagram of a wireless electromagnetic positioning system according to an embodiment of the present invention.
In one implementation manner, the wireless electromagnetic positioning system 10 provided in 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, an instrument amplifying circuit 320 connected to the receiving coil 310, a low-pass filter circuit 330 connected to the instrument amplifying circuit 320, an adjustable amplifying circuit 340 connected to the low-pass filter circuit 330, a signal collector 350 connected to the adjustable amplifying circuit 340, and a processing and display device 360 connected to the signal collector 350.
In the implementation process, the signal flow of the transmitting end is that 1 path of sine signal with break point is generated by the DMA of the single chip microcomputer 210, and is output to the input end of the power amplifier through the IO port, and the output power is to be adjustable, so that the signal conditioning circuit 220 is added to the input end of the power amplifying circuit 230, the signal is input to the power amplifying circuit 230 after passing through the signal conditioning circuit 220, and the power amplifying circuit 230 amplifies the sine signal. The amplified signal is filtered by the RC filter circuit 240 and then filtered by the differential mode filter circuit, and the sine wave signal is transmitted to the transmitting coil 260 by the control signal switching circuit 250, and the electromagnetic signal is transmitted to the positioning space by the transmitting coil 260. The receiving coil 310 converts the received electromagnetic signal into an induced electromotive force; then, after the filtering and amplifying process is performed by the instrument amplifying circuit 320, the low-pass filtering circuit 330 and the adjustable amplifying circuit 340, the signals are collected by the signal collector 350 and sent to the processing and display device 360, and after the processing and display device 360 performs the processing and FFT conversion on the collected signals, the pre-trained PKBPNN neural network model is used for analysis, 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 includes a power module 400 connected to the transmitting terminal 200; the power module 400 includes a power 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 the first connection terminal of the power supply changeover switch; 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 includes and first LC filter circuit 411, first power supply terminal (vcc_24v1), first voltage regulator 412, first capacitance filter circuit 413, second power supply terminal (vcc_5v), second voltage regulator 414, second capacitance filter circuit 415, and third power supply terminal (vcc_3.3v); an input end of the first LC filter circuit 411 is connected to the first connection terminal; the first power supply terminal and the output end of the first LC filter circuit 411 are both connected with the input end of the first voltage stabilizer 412; the input end and the second power supply terminal of the first capacitance filter circuit 413 are 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 capacitance filter circuit 413; an input end of the second capacitance filter circuit 415 is connected with an input end of the second voltage stabilizer 414; the third power supply terminal is connected with the output end of the second capacitance filter circuit 415; the second power supply circuit includes a fourth power supply terminal (vcc_24v2), a second LC filter circuit 421, a third voltage regulator 422, a third capacitance 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 voltage regulator 422; the input end of the third capacitance 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 capacitance 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 234 connected to the third LC filter 233.
Specifically, the single-chip microcomputer 210 may be a single-chip microcomputer of STM32 series, for example, STM32F103RCT6. The signal conditioning circuit 220 may be any of various types of circuits commonly used in the prior art. The signal collector 350 may use a high-speed multi-channel data collection card PCI8621 manufactured by alctai corporation, which is bus controlled and compatible with the PCI slot of the computer. 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 be a digital power amplifier TPA3116, and the emitter follower 231 may be an LM7321; the main function of LM7321 is to couple the input impedance mismatch between the single chip microcomputer 210 and the power amplifier, and in addition, to convert the unipolar signal from the single chip microcomputer 210 into the bipolar signal required by the power amplifier.
Referring to fig. 4, 5 and 6, fig. 4 is a schematic diagram of an amplifying circuit of an instrument 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 adjustment pins of the instrumentation amplifier; the positive voltage input filter circuit 321 is connected with a positive voltage input pin of the instrument 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; the first end of the first resistor R6 is connected with the output end of the instrumentation amplifier U1; the first end of the first capacitor C6 and the first end of the second resistor R7 are connected with the 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 connected with the first non-inverting input end of the first double-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 double operational amplifier U2 are all connected with the first inverting input end of the first double operational amplifier U2; the second end of the third resistor R8 and the first end of the third capacitor C8 are connected with the first end of the fourth resistor R9; the second output end of the first double operational amplifier U2, the second inverting input end and the second end of the third capacitor C8 are connected with the input end of the adjustable amplifying circuit 340; the second end of the fourth resistor R9 and the first end of the fourth capacitor C7 are connected with the second non-inverting input end of the first double-operational amplifier U2; the second terminal of the fourth capacitor C7 is grounded.
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 end of the second double-operational amplifier U3 is connected with the second output end of the first double-operational amplifier U2; the first end of the second adjustable resistor R14 and the first end of the fifth resistor R13 are connected with the first inverting input end of the second double-operational amplifier U3; the second end and the sliding end of the second adjustable resistor R14 are connected with the first output end of the second double-operational amplifier U3; the signal collector 350 is connected to a first output of the second dual operational amplifier U3.
In the implementation process, the type of the instrumentation amplifier may be INA129, and the first dual operational amplifier and the second dual operational amplifier may be OPA 2228. The positioning distance can be effectively increased by the instrument amplification circuit 320, the low-pass filter circuit 330 and the adjustable amplification circuit 340, so as to position a larger positioning space.
Referring to fig. 7 and 8, fig. 7 is a schematic structural diagram of a testing device according to an embodiment of the invention; fig. 8 is a general flow chart of a wireless electromagnetic positioning method according to an embodiment of the present invention.
In an implementation manner, the embodiment of the invention further provides a wireless electromagnetic positioning method, which is applied to the wireless electromagnetic positioning system and comprises the following steps:
s1, after each transmitting terminal is electrified, starting a transmitting coil of each transmitting terminal in a time-sharing working mode through a signal switching circuit, converting a sinusoidal signal generated by a singlechip into an electromagnetic wave signal with constant power, and transmitting the electromagnetic wave signal;
s2, a receiving coil of the receiving terminal generates a corresponding induced electromotive force signal according to the electromagnetic wave signal; the method comprises the steps that after the induced electromotive force signals are subjected to amplification and filtering processing through an instrument amplification circuit, a low-pass filter circuit and an adjustable amplification circuit in sequence, sampling values of the induced electromotive force signals are obtained through a signal collector;
s3, the processing and display device carries out FFT on the sampling values to obtain corresponding amplitude values and corresponding frequencies, and the LM algorithm which is trained by the PKBPNN neural network to obtain initial values is used for calculating the amplitude values and the frequencies to obtain and display the position information of the receiving terminal.
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), H p And (m ', n ', p ') represents the directional position of the receiving coil relative to the transmitting coil, and can be calculated according to the following formula when the receiving coil is positioned:
in the above, B T Is a constant in the magnetic field; b (B) a 、B b 、B c Representing the inside of the transmitting coilThree orthogonal components of the magnetic induction generated by the receiving coil at point P in the coordinate system; n represents the number of turns of the receiving coil; s represents the area of a space curved surface of magnetic induction intensity distribution; r represents the distance from the receiving coil to the transmitting coil; r represents a rotation matrix; e (E) max Representing the magnitude of the induced electromotive force of the receiving coil; b'. max Representing the electromagnetic field intensity amplitude in the axial direction of the receiving coil;representing the angle of rotation of the current pose of the receiving coil relative to the x-axis of the coordinate system of the transmitting coil; θ represents the angle of rotation of the current pose of the receiving coil relative to the y-axis of the coordinate system of the transmitting coil; phi denotes the angle by which the current pose of the receiving coil is rotated relative to the z-axis of the coordinate system of the transmitting coil.
Specifically, when the receiving coil generates corresponding induced electromotive force according to electromagnetic wave signals emitted by the transmitting coil, and performs amplification and filtering processing through the instrument amplification circuit, the low-pass filtering circuit and the adjustable amplification circuit, a corresponding sampling value can be obtained through the signal collector, then the amplitude of the induced electromotive force is obtained after FTT conversion, and finally the reverse operation is performed through the formulas (1), (2) and (3), so that 3-dimensional coordinates and 2-dimensional direction information in the receiving coil are obtained, and wireless electromagnetic positioning is realized.
In one embodiment, the method further comprises 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 arranged 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 coils are placed on the first placing plate in a nine-grid arrangement mode, and the receiving coils are placed on the second placing plate;
b. starting each transmitting coil according to a time-sharing working mode;
c. the processing and displaying device acquires the sampling value of the induced electromotive force signal acquired by the signal acquisition device in the receiving terminal and performs FFT conversion;
d. and performing initial value training by using the signals after FFT conversion as a training sample set 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 three layers of an input layer, an hidden layer and an output layer may be selected. The position and the pose of each transmitting coil and each receiving coil can be preset on the testing device; then powering on to start each signal switching circuit according to 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 display device for FFT conversion, obtains data such as each amplitude value and frequency after conversion to serve as input of the PKBPNN neural network, trains the PKBPNN neural network, and obtains an initial value of the LM algorithm.
In the implementation process, in order to improve accuracy of the positioning result of the PKBPNN neural network model, the method further includes: the PKBPNN neural network is optimized through a loss function with priori knowledge:
minED＝min{En+EP}
wherein E is D Representing a target loss function; e (E) n Representing a loss function of a general neural network model; e (E) p Representing a penalty function; sigma (sigma) 1 、σ 2 Sum sigma 3 Penalty factor coefficients representing penalty functions;representing PKBPNN nervesVector Y 'actually output by network' t Components of (2); y is Y t Representing a target expected value; l (L) max Representing the maximum length of the positioning space; w (W) max Representing the maximum width of the positioning space; h max Representing the maximum height of the positioning space; n represents the number of training samples; t represents the sample data for which the t-th training is required.
In summary, the embodiment of the invention provides a wireless electromagnetic positioning system and a wireless electromagnetic positioning method, which comprise a power supply, a receiving terminal and nine transmitting terminals; the transmitting terminal comprises a singlechip, a signal conditioning circuit, a power amplifying circuit, a filter circuit and a signal switching circuit, wherein the singlechip is connected with the power supply in a one-to-one correspondence manner, the signal conditioning circuit is connected with the singlechip, the power amplifying circuit is connected with the signal conditioning circuit, the filter circuit is connected with the power amplifying circuit, the signal switching circuit is connected with the filter circuit, and the transmitting coil 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 performed, and meanwhile, the convenience in use is improved.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (8)
1. The wireless electromagnetic positioning system is characterized by comprising a power supply, a receiving terminal and nine transmitting terminals; the transmitting terminal comprises a singlechip, a signal conditioning circuit, a power amplifying circuit, an RC filter circuit and a signal switching circuit, wherein the singlechip is connected with the power supply in a one-to-one correspondence manner, the signal conditioning circuit is connected with the singlechip, the power amplifying circuit is connected with the signal conditioning circuit, the RC filter circuit is connected with the power amplifying circuit, the signal switching circuit is connected with the RC filter circuit, and the transmitting coil 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;
after the transmitting terminals are electrified, the transmitting coils of the transmitting terminals are started in a time-sharing working mode through a signal switching circuit, and sinusoidal signals generated by the singlechip are converted into electromagnetic wave signals with constant power and transmitted;
the receiving coil generates a corresponding induced electromotive force signal according to the electromagnetic wave signal; the method comprises the steps that after the induced electromotive force signals are subjected to amplification and filtering processing through an instrument amplification circuit, a low-pass filter circuit and an adjustable amplification circuit in sequence, sampling values of the induced electromotive force signals are obtained through a signal collector;
the processing and displaying device carries out FFT (fast Fourier transform) on the sampled values to obtain corresponding amplitude values and corresponding frequencies, and an LM algorithm for obtaining initial values through PKBPNN neural network training is used for calculating the amplitude values and the frequencies to obtain and display the position information of the receiving terminal; wherein, 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 arranged 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 coils are placed on the first placing plate in a nine-grid arrangement mode, and the receiving coils are placed on the second placing plate;
starting each transmitting coil according to a time-sharing working mode;
the processing and displaying device acquires the sampling value of the induced electromotive force signal acquired by the signal acquisition device in the receiving terminal and performs FFT conversion;
using the signals after FFT transformation as a training sample set, and performing initial value training through a PKBPNN neural network to obtain an initial value of an LM algorithm;
and optimizing the PKBPNN neural network model through a loss function with priori knowledge:
minE D ＝min{E n +E P }
wherein E is D Representing a target loss function; e (E) n Representing a loss function of a general neural network model; e (E) p Representing a penalty function; sigma (sigma) 1 、σ 2 Sum sigma 3 Penalty factor coefficients representing penalty functions;vector Y 'representing actual output of PKBPNN neural network' t Components of (2); y is Y t Representing a target expected value; l (L) max Representing the maximum length of the positioning space; w (W) max Representing the maximum width of the positioning space; h max Representing the maximum height of the positioning space; n represents the number of training samples; t represents the sample data for which the t-th training is required.
2. The wireless electromagnetic positioning system of claim 1, further comprising a power module coupled to the transmitting terminal; the power supply module comprises a power supply change-over switch; a power port connected with the common end of the power supply change-over switch; a first power supply circuit connected to a first connection terminal of the power supply changeover switch; and a second power supply circuit connected to the second connection terminal of the power supply changeover switch.
3. The wireless electromagnetic positioning system of claim 2, wherein the first power supply 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; the input end of the first LC filter circuit is connected with the first connecting terminal; the output ends of the first power supply terminal and the first LC filter circuit are connected with the input end of the first voltage stabilizer; the input end of the first capacitance filter circuit and the second power supply terminal are 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 capacitance filter circuit; the input end of the second capacitance 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 capacitance filter circuit; the second power supply circuit comprises a fourth power supply terminal, a second LC filter circuit, a third voltage stabilizer, a third capacitance 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 connected with the input end of the third voltage stabilizer; the input end of the third capacitance 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 capacitance 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 instrumentation amplification circuit comprises an instrumentation 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 adjustment pins of the instrumentation amplifier; the positive voltage input filter circuit is connected with a positive voltage input pin of the instrument amplifier; the negative voltage input filter circuit is connected with a negative voltage input pin of the instrument 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 instrument amplifier; the first end of the first capacitor and the first end of the second resistor are 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 connected with the first non-inverting input end of the first dual-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 connected with the first end of the fourth resistor; the second output end and the second inverting input end of the first double operational amplifier and the second end of the third capacitor are connected with the input end of the adjustable amplifying circuit; the second end of the fourth resistor and the first end of the fourth capacitor are connected with the second non-inverting input end of the first double-operational amplifier; 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-operation amplifier is connected with the second output end of the first double-operation amplifier; the first end of the second adjustable resistor and the first end of the fifth resistor are 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 connected with the first output end of the second double-operation amplifier; the signal collector is connected with the first output end of the second double-operation amplifier.
8. A wireless electromagnetic positioning method applied to the wireless electromagnetic positioning system as claimed in any one of claims 1 to 7, comprising:
after each transmitting terminal is electrified, the transmitting coils of each transmitting terminal are started in a time-sharing working mode through a signal switching circuit, and sinusoidal signals generated by the singlechip are converted into electromagnetic wave signals 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 method comprises the steps that after the induced electromotive force signals are subjected to amplification and filtering processing through an instrument amplification circuit, a low-pass filter circuit and an adjustable amplification circuit in sequence, sampling values of the induced electromotive force signals are obtained through a signal collector;
the processing and displaying device carries out FFT (fast Fourier transform) on the sampled values to obtain corresponding amplitude values and corresponding frequencies, and an LM algorithm for obtaining initial values through PKBPNN neural network training is used for calculating the amplitude values and the frequencies to obtain and display the position information of the receiving terminal; wherein, 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 arranged 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 coils are placed on the first placing plate in a nine-grid arrangement mode, and the receiving coils are placed on the second placing plate;
starting each transmitting coil according to a time-sharing working mode;
the processing and displaying device acquires the sampling value of the induced electromotive force signal acquired by the signal acquisition device in the receiving terminal and performs FFT conversion;
using the signals after FFT transformation as a training sample set, and performing initial value training through a PKBPNN neural network to obtain an initial value of an LM algorithm;
and optimizing the PKBPNN neural network model through a loss function with priori knowledge:
minE D ＝min{E n +E P }
wherein E is D Representing a target loss function; e (E) n Representing a loss function of a general neural network model; e (E) p Representing a penalty function; sigma (sigma) 1 、σ 2 Sum sigma 3 Penalty factor coefficients representing penalty functions;vector Y 'representing actual output of PKBPNN neural network' t Components of (2); y is Y t Representing a target expected value;
L max representing the maximum length of the positioning space; w (W) max Representing the maximum width of the positioning space; h max Representing the maximum height of the positioning space; n represents the number of training samples; t represents the sample data for which the t-th training is required.
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