RU2171476C1 - Facility determining position of object ( versions ) - Google Patents

Abstract

FIELD: measurement technology, design of aids measuring coordinates, velocity and angle values of object in automatic control systems. SUBSTANCE: enhanced speed of response in determination of position of object is achieved as position of object is determined thanks to measurement of three components of vector of magnetic induction created by one or two inductance coils put on object by three three-component transmitters placed in vertexes of triangle. Facility determining position of object in agreement with first version has inductance coil placed on object, three three-component magnetosensitive transmitters located in vertexes of triangle, nine amplification-conversion units, alternating voltage generator and computer connected in certain circuit. Facility determining position of object in correspondence with second version has two inductance coils with mutually orthogonal axes placed on object, three three-component magnetosensitive transmitters located in vertexes of triangle, eighteen amplification-conversion units, alternating voltage generator and computer connected in certain circuit. EFFECT: enhanced speed of response of facility. 2 cl, 2 dwg

Description

 The invention relates to the field of measuring equipment and can be used to create means for measuring the coordinates, speed and angular values of an object in automatic control systems. A known device that implements a method for determining the position of an object [1].

 The known device consists of two inductors with mutually orthogonal axes, a voltage generator of different frequencies, in which the first and second outputs are connected to the terminals of the first inductor, and the third and fourth outputs to the conclusions of the second inductor, two three-component sensors, six variable voltage amplifiers , the input of each of which is connected to the corresponding output of one of the three-component sensors, and twelve converter blocks. Parallel connected first inputs of the first and seventh, second and eighth, third and ninth, fifth and eleventh, sixth and twelfth conversion blocks are connected respectively to the outputs of the first, second, third, fourth, fifth sixth amplifiers of alternating voltage. The second inputs of the first, second, third, fourth, fifth and sixth converter blocks are connected to the fifth, and the second inputs of the seventh, eighth, ninth, tenth, eleventh and twelfth converter blocks are connected to the sixth output of a voltage generator of different frequencies. In this case, both inductors are placed on the object.

The known device operates as follows. A voltage generator of different frequencies creates alternating voltages with frequencies f ₁ , f ₂ , one of which is supplied to the first inductor, and the second voltage is supplied to the second inductor. The currents flowing in the inductors create magnetic fields with the corresponding frequencies f ₁ and f ₂ . Magnetic fields induce three EMF variables in each of the three-component sensors, proportional to the components of the magnetic induction vectors. These EMFs are amplified by amplifiers of alternating voltages, which simultaneously serve as matching nodes between the sensors and the converter units. Each converter unit consists of a bandpass filter and a synchronous detector. The band-pass filters of the first, second, third, fourth, fifth and sixth conversion blocks are tuned for alternating voltages with a frequency f ₁ , and synchronous detectors of these blocks are supplied with alternating voltage with a frequency f ₁ from the fifth output of a voltage generator of different frequencies. The band-pass filters of the seventh, eighth, ninth, tenth, eleventh and twelfth converter blocks are configured for alternating voltage with a frequency f ₂ , and synchronous detectors of these blocks are supplied with alternating voltage with a frequency f ₂ from the sixth output of a voltage generator of different frequencies. As a result of this, the converter blocks emit signals proportional to the components of the magnetic induction vectors created by the inductors in the locations of the sensors. Synchronous detection provides the measurement of signals in proportion to the change in their amplitudes and phases. The values of the components of the magnetic induction vectors measured at two points in space and the relative position of the three-component sensors determine the coordinates of the inductors, and therefore the coordinates of the object, and the vectors of dipole magnetic moments of these coils, for example, according to the algorithm described in [2]. The angular position of the object is determined by the direction cosines of the vectors of dipole magnetic moments of the inductors, each of which is connected with the object. The directions of the magnetic moment vectors of the inductance coils are rigidly connected with the axes of these coils [3], therefore, the direction cosines of the magnetic moment vectors determine the angular position of these coils, and hence the object.

 Known technical solution provides the determination of the position of the object for a considerable time, which does not meet the requirements for solving particular problems. This is due to the fact that in the absence of any information about the location of the object, its position is determined numerically by setting an array of random values of the object's coordinates, which can differ significantly from the actual ones.

 A device is known for determining the position of an object [4], which, according to the set of essential features, is closest to the proposed one and is taken as a prototype. The known device consists of three inductors located on the object, two three-component magnetosensitive sensors, eighteen amplifier-converter blocks, an alternating voltage generator and a computing unit. The first inputs of the first, seventh and tenth amplifier-converter blocks are connected to the first output of the first sensor, the first inputs of the second, eighth and eleventh amplifier-converter blocks are connected to the second output of the first sensor, the first inputs of the third, ninth and twelfth amplifier-converter blocks the output of the first sensor, the first inputs of the fourth, thirteenth and sixteenth amplification-conversion blocks are connected to the first output of the second sensor, the first input of the fifth, fourteenth and seventeenth amplification converter blocks are connected to the second output of the second sensor, the first inputs of the sixth, fifteenth and eighteenth amplification converter blocks are connected to the third output of the third sensor, the first output of the alternating voltage generator is connected to the second inputs of the first, second, third, fourth , fifth and sixth amplification-conversion blocks, the second output is to the second inputs of the tenth, eleventh, twelfth, thirteenth, fourteenth and fifteen of the second amplifier and converter blocks, the third and fourth to the terminals of the first inductor, the fifth and sixth to the terminals of the second inductor, the seventh and eighth to the terminals of the third inductor, the ninth to the second inputs of the seventh, eighth, ninth, sixteenth, seventeenth and the eighteenth amplifier-converter blocks, and the outputs of all eighteen amplifier-converter blocks are connected to the inputs of the computing unit.

Known technical solution works as follows. In three inductors connected to an alternating voltage generator, currents of different frequencies f ₁ , f ₂ , f ₃ flow. As a result of this, the inductors reproduce alternating magnetic fields with frequencies, f ₁ , f ₂ , f ₃ . In two three-component magnetosensitive sensors (for example, in passive induction sensors), EMF variables are induced on each of the three magnetically sensitive axes of the corresponding sensor, each of which is proportional to the component of the magnetic induction vector created by the inductors with the corresponding frequencies f ₁ , f ₂ , f ₃ . These EMFs are amplified and detected by respective amplification-conversion units, each of which consists of a selective amplifier and a synchronous detector. To do this, reference voltages with the corresponding frequencies f ₁ , f ₂ , f ₃ from the alternating voltage generator are supplied to the second inputs of the amplifier-converter blocks, and variable EMFs are supplied to the first inputs of these blocks from the corresponding outputs of the three-component sensors. As a result of this, at the outputs of the amplifier-converter blocks there will be signals of corresponding polarities proportional to the amplitudes of the projections of the magnetic induction vectors on the sensitivity axis of the sensors. The signals from the outputs of the amplifier-conversion units and the relative position of the three-component sensors are used to determine the coordinates of each inductance coil in the computing unit, for example, according to the algorithm described in [12]. Three inductors, which are dipole sources of variable magnetic fields, are placed on the object at the vertices of a right-angled triangle, whose legs coincide with the axes of the Cartesian coordinate system. Having determined the coordinates of the inductors and knowing the location of these inductors in a Cartesian coordinate system, rigidly connected with the object, find the direction cosines of the axes of this coordinate system, and therefore the angular position of the object according to the known algorithm [5].

 A well-known technical solution containing two three-component magnetosensitive sensors and inductance coils spaced in space, which are sources of a magnetic field, provides an object position determination for a long time, which can be several seconds when using modern Pentium computers with a clock frequency (500-600 ) MHz, which does not meet the requirements for solving particular problems. This is due to the fact that in the absence of any information about the location of the object, its position is determined numerically by setting an array of random values of the object's coordinates, which can differ significantly from the actual ones.

 The task of the invention is to provide a device for determining the position of an object that differs from the prototype in the speed of determining the position of an object. The task of creating a device for determining the position of an object is solved by measuring the components of the magnetic induction vectors by three three-component sensors located at the vertices of a triangle created by one and two coils of inductances placed on the object.

 The present invention provides two devices for determining the position of an object, interconnected so much that they form a single inventive concept.

 The proposed device for determining the position of the object (according to the first embodiment), including an inductor located on the object, two three-component magnetosensitive sensors, nine amplifier-converter blocks, an alternating voltage generator and a computing unit, the first input of the first amplifier-converter unit is connected to the first output of the first sensor, the first input of the second amplifier-converter unit is connected to the second output of the first sensor, the first input of the third amplifier-pr the educational unit is connected to the third output of the first sensor, the first input of the fourth amplifier-converter unit is connected to the first output of the second sensor, the first input of the fifth amplifier-converter unit is connected to the second output of the second sensor, the first input of the sixth amplifier-converter unit is connected to the third output of the second sensor , the first output of the alternating voltage generator is connected to the second inputs of the first, second, third, fourth, fifth and sixth amplifier-converter units, and the second and third outputs are connected to the terminals of the inductor, the outputs of all nine amplifier-converter blocks are connected to the computing unit, equipped with a third three-component magnetosensitive sensor, in which the first output is connected to the first input of the seventh amplifier-converter unit, the second output to the first input of the eighth amplifier-converter unit, the third output to the first input of the ninth amplifier-converter unit, the second inputs of the seventh, eighth and ninth amplifier but-converter blocks are connected to the first output of the alternating voltage generator, while three-component magnetosensitive sensors are located at the vertices of the triangle.

 The proposed device for determining the position of the object (according to the second option), including two inductors with mutually orthogonal axes located on the object, two three-component magnetosensitive sensors, eighteen amplifier-converter blocks, an alternating voltage generator and a computing unit, the first inputs of the first and tenth amplifier converter blocks are connected to the first output of the first sensor, the first inputs of the second and eleventh amplifier-converter blocks are connected They are connected to the second output of the first sensor, the first inputs of the third and twelfth amplifier-converter blocks are connected to the third output of the first sensor, the first inputs of the fourth and thirteenth amplifier-converter blocks are connected to the first output of the second sensor, the first inputs of the fifth and fourteenth amplifier-converter blocks are connected to the second output of the second sensor, the first inputs of the sixth and fifteenth amplification-conversion blocks are connected to the third output of the second sensor, the first output the alternating voltage generator is connected to the second inputs of the first, second, third, fourth, fifth and sixth amplification-conversion blocks, the second output is to the second inputs of the tenth, eleventh, twelfth, thirteenth, fourteenth and fifteenth amplification-conversion blocks, the third and fourth outputs are to the conclusions of the first inductor, and the fifth and sixth outputs to the conclusions of the second inductor, the outputs of all eighteen amplifier-converter blocks are connected to the computing unit, equipped with a third three-component magnetosensitive sensor, in which the first output is connected to the first inputs of the seventh and sixteenth amplification-conversion blocks, the second output is connected to the first inputs of the eighth and seventeenth amplification-conversion blocks, the third output is connected to the first inputs of the ninth and eighteenth amplification-conversion blocks, the second inputs of the seventh, eighth and ninth amplification-conversion blocks are connected to the first output of the alternating voltage generator, and the second inputs are sixteen the ninth, seventeenth and eighteenth amplification-conversion blocks are connected to the second output of the alternating voltage generator, while three-component magnetosensitive sensors are located at the vertices of the triangle.

 The use in the proposed technical solution according to the first embodiment of three three-component magnetosensitive sensors located at the vertices of a triangle, nine amplification-conversion blocks, an alternating voltage generator, a computational unit, an inductor placed on the object, which are connected among themselves in a certain way, and measuring projections of three vectors magnetic induction created by the inductor in the locations of the sensors, provides the determination of the coordinates of the inductors and the direction cosines of the axis of this coil, and therefore the determination of the position of the object on which the said coil is located, for a time more than an order of magnitude smaller than the time of determining the position of the object by the technical solution adopted for the prototype, that is, the speed of determining the position of the object the proposed technical solution is more than an order of magnitude faster than determining the position of an object by a device adopted as a prototype.

 The use in the proposed technical solution according to the second embodiment of three three-component magnetosensitive sensors located at the vertices of the triangle, eighteen amplifier-converter blocks, an alternating voltage generator, a computational unit connected in a certain way, two with mutually orthogonal axes of the inductor placed on the object, which connected to an alternating voltage generator, and measuring projections of six vectors of magnetic induction created by two coils in ductivity, in the locations of the sensors, provides the determination of the coordinates of both inductors and the directing cosines of the axes of these coils, and therefore, the position of the object on which these coils are located when the object rotates around any selected axis, for a time more than an order of magnitude smaller compared with the time of determining the position of the object by a technical solution adopted as a prototype, that is, the speed of determining the position of an object by the proposed technical solution is more than the order exceeds the speed of determining the position of an object by a device adopted as a prototype.

 Thus, the technical result of the proposed technical solution is expressed in increasing the speed of determining the position of the object in comparison with the prototype.

 The essence of the proposed technical solution is illustrated by the following graphic materials.

 In FIG. 1 shows a block diagram of a device for determining the position of an object according to the first and second variants.

 In FIG. 2 shows the spatial arrangement of the three-component magnetosensitive sensors in the reference Cartesian coordinate system OXYZ.

The proposed device for determining the position of the object according to the first embodiment (Fig. 1) consists of three-component magnetosensitive sensors 1-3, the sensitivity axes of which are collinear to the axes of the reference Cartesian coordinate system OXYZ, nine amplification-conversion blocks 4-12, alternating voltage generator 13, computing unit 14 and an inductor 15 located on the object 16, the axis of which coincides, for example, with the axis O'X 'of the Cartesian coordinate system O'X'Y'Z', rigidly connected to the object 16. The first input of block 4 is connected to sensor 1 output, the first input of block 5 is connected to the second output of sensor 1, the first input of block 6 is connected to the third output of sensor 1, the first input of block 7 is connected to the first output of sensor 2, the first input of block 8 is connected to the second output of sensor 2, the first the input of block 9 is connected to the third output of the sensor 2, the first input of block 10 is connected to the first output of the sensor 3, the first input of block 11 is connected to the second output of the sensor 3, the first input of block 12 is connected to the third output of the sensor 3, the first output of the generator 13 is connected to the second the inputs of blocks 4-12, and the second the second and third outputs of the generator 13 is connected to the terminals of the coil 15. The outputs A ₁ -A _{9 of} blocks 4-12 are connected to the inputs of block 14, and the sensors 1-3 are located at the vertices of the triangle.

 The proposed device for determining the position of the object according to the second embodiment (Fig. 1) consists of three-component magnetosensitive sensors 1-3, the sensitivity axes of which are collinear to the axes of the reference Cartesian coordinate system OXYZ, eighteen amplifier-converter blocks 4-12 and 17-25, an alternating voltage generator 13, of the computing unit 14, of the inductor 15, the axis of which coincides with the axis O'X 'of the Cartesian coordinate system O'X'Y'Z', rigidly connected to the object 16, and the inductor 26, the axis of which coincides with the axis O'Y ' from O'X'Y'Z 'coordinate systems.

The first inputs of blocks 4 and 17 are connected to the first output of the sensor 1, the first inputs of blocks 5 and 18 are connected to the second output of the sensor 1, the first inputs of blocks 6 and 19 are connected to the third output of the sensor 1, the first inputs of blocks 7 and 20 are connected to the first output of the sensor 2, the first inputs of blocks 8 and 21 are connected to the second output of the sensor 2, the first inputs of blocks 9 and 22 are connected to the third output of the sensor 2, the first inputs of blocks 10 and 23 are connected to the first output of the sensor 3, the first inputs of blocks 11 and 24 are connected to the second the sensor output 3, the first inputs of blocks 12 and 25 are connected to the sensor 3, the first output of the generator 13 is connected to the second inputs of the blocks 4-12, the second output of the generator 13 is connected to the second inputs of the blocks 17-25, the third and fourth outputs of the generator 13 are connected to the terminals of the coil 15, and the fifth and sixth outputs of the generator 13 connected to the terminals of the coil 26. In this case, the outputs A ₁ -A _{9 of} blocks 4-12 and the outputs A ₁₀ -A _{18 of} blocks 17-25 are connected to the inputs of block 14, and the sensors 1-3 are located at the vertices of the triangle. One sensor 27 (Fig. 2) is placed on the OX axis, the second sensor 28 is located at the beginning of the Cartesian coordinate system OXYZ at point O and the third sensor 29 is placed on the OZ axis.

 The proposed device for determining the position of the object according to the first embodiment works as follows.

c выходов блоков 4-6;

с выходов блоков 7-9;

с выходов блоков 10-12.The coil 15 (Fig. 1) connected to the generator 13, creates an alternating magnetic field with a frequency f ₁ . In three-component sensors 1-3 (for example, in passive induction sensors), EMF variables are induced for each component, each of which is proportional to the component of the magnetic induction vector created by coil 15. These EMFs are amplified and detected by blocks 4-12, each of which consists of a selective amplifier and synchronous detector. For this, the second inputs of blocks 4-12 are supplied with a reference voltage of frequency f) from the first output of the generator 13, and the EMF variables are fed from the corresponding outputs of the three-component sensors 1-3 to the first inputs of these blocks. As a result of this, at the outputs of blocks 4-12 there will be signals of the corresponding polarities proportional to the amplitudes of the corresponding magnetic induction vectors;

c outputs of blocks 4-6;

from the outputs of blocks 7-9;

from the outputs of blocks 10-12.

где

μ_o= 4π•10^-7 Гн/м; a₁, b₁, c₁ и a₂, b₂,c₂ - координаты датчиков 27 (фиг. 2) и 29 в системе координат OXYZ; i = 1, 2, 3;

радиус-вектор i-го датчика.According to the measured projections of the magnetic induction vectors, according to the coordinates of the sensors 1-3 relative to each other, the modules of the magnetic induction vectors B ₁₁ , B ₁₂ , B ₁₃ and the known module of the dipole magnetic moment vector M _{1 of the} coil 15, the approximate coordinates (x ₀ , y ₀ , z ₀ ) of coil 15 with an error within ± + 11.5% of the following equations:
[(x ₀ + a ₁ ) ² + (y ₀ + b ₁ ) ² + (z ₀ + c ₁ ) ² ] ^1/2 = r ₀₁₁ ;
(x $\genfrac{}{}{0ex}{}{\text{2}}{\text{0}}$ + y $\genfrac{}{}{0ex}{}{\text{2}}{\text{0}}$ + z $\genfrac{}{}{0ex}{}{\text{2}}{\text{0}}$ ) ^1/2 = r ₀₁₂ ;
[(x ₀ + a ₂ ) ² + (y ₀ + b ₂ ) ² + (z ₀ + c ₂ ) ² ] ^1/2 = r ₀₁₃ ;

Where

μ _o = 4π • 10 ^-7 GN / m; a ₁ , b ₁ , c ₁ and a ₂ , b ₂ , c ₂ are the coordinates of the sensors 27 (Fig. 2) and 29 in the OXYZ coordinate system; i = 1, 2, 3;

radius vector of the i-th sensor.

катушки 15 по алгоритму, изложенному в работе [2]. Угловое положение катушки 15, а следовательно, и объекта 16 определим по направляющим косинусам l₁=cos α; m₁=cos β; n₁=cos γ вектора

из следующих выражений:

где

Предлагаемое устройство для определения положения объекта по первому варианту отличается от прототипа более простым конструктивным исполнением. Действительно, в состав предлагаемого устройства, в отличие от прототипа, входят не восемнадцать усилительно-преобразовательных блоков, а - девять, не три катушки индуктивности, а - одна. Предлагаемое техническое решение по сравнению с аналогом и прототипом обеспечивает определение координат и углового положения объекта в существенно ограниченном пространстве (в окрестностях точки, расстояние от которой до действительного местоположения объекта отличается на ± 11,5%), что повышает быстродействие определения положения объекта более чем на порядок.Taking the coordinates (X ₀ , Y ₀ , Z ₀ ) for the initial approximation of the location of the coil 15, we determine the actual values of the coordinates and the vector of magnetic moment

coil 15 according to the algorithm described in [2]. The angular position of the coil 15, and therefore the object 16 is determined by the direction cosines l ₁ = cos α; m ₁ = cos β; n ₁ = cos γ of the vector

of the following expressions:

Where

The proposed device for determining the position of the object in the first embodiment differs from the prototype in a simpler design. Indeed, the composition of the proposed device, in contrast to the prototype, does not include eighteen amplifier-converter blocks, but nine, not three inductors, but one. The proposed technical solution, in comparison with the analogue and prototype, provides the determination of the coordinates and angular position of the object in a substantially limited space (in the vicinity of the point the distance from which to the actual location of the object differs by ± 11.5%), which increases the speed of determining the position of the object by more than order.

 The proposed device for determining the position of an object according to the second embodiment works as follows.

с выходов блоков 4-6;

выходов блоков 7-9;

с выходов блоков 10-12;

c выходов блоков 17-19;

c выходов блоков 20-22;

с выходов блоков 23-25, где векторы

созданы катушкой 15, а векторы

созданы катушкой 26. Далее в блоке 14 осуществляется определение вектора магнитного момента

катушки 15 и вектора магнитного момента

катушки 26 по измеренным проекциям векторов магнитной индукции, по координатам датчиков 1-3 относительно друг друга, модулям векторов магнитной индукции В₁₁, В₁₂, В₁₃, B₂₁, В₂₂, В₂₃ и известным модулям векторов дипольных магнитных моментов М₁ катушки 15 и М₂ катушки 26, как и для устройства по первому варианту.Coils 15 (Fig. 1) and 26, connected to the generator 13, create alternating magnetic fields with the corresponding frequencies f ₁ and f ₂ . In three-component sensors 1-3 (for example, in passive induction sensors), EMF variables are induced for each component, each of which is proportional to the component of the magnetic induction vector, which is created by coils 15 and 26. These EMFs are amplified and detected by blocks 4-12 and 17-25 , each of which consists of a selective amplifier and a synchronous detector. For this, the second inputs of blocks 4-12 are supplied with a voltage reference of frequency f ₁ from the first output of the generator 13, and the second inputs of blocks 17-25 are supplied with a voltage of frequency f ₂ from the second output of the generator 13. At the same time, the first inputs of blocks 4-12 and 17-25 are fed from the respective outputs of the sensors 1-3 variable EMF. As a result of this, at the outputs of blocks 4-12 and 17-25 there will be signals of the corresponding polarities proportional to the amplitudes of the corresponding magnetic induction vectors:

from the outputs of blocks 4-6;

outputs of blocks 7-9;

from the outputs of blocks 10-12;

c outputs of blocks 17-19;

c outputs of blocks 20-22;

from the outputs of blocks 23-25, where the vectors

created by coil 15, and vectors

created by the coil 26. Next, in block 14, the magnetic moment vector is determined

coils 15 and magnetic moment vectors

coils 26 according to the measured projections of the magnetic induction vectors, according to the coordinates of the sensors 1-3 relative to each other, the modules of the magnetic induction vectors B ₁₁ , ₁₂ , ₁₃ , B ₂₁ , ₂₂ , ₂₃ and the known modules of the dipole magnetic moment vectors M ₁ coils 15 and M _{2 of the} coil 26, as for the device according to the first embodiment.

совпадающих с соответствующими осями O'X' и O'Y' декартовой системы координат O'X'Y'Z' (фиг. 1) в блоке 14 осуществляется определение направляющих косинусов l₁, m₁, n₁ оси O'X', направляющих косинусов l₂, m₂, n₂ оси O'Y' и направляющих косинусов l₃, m₃, n₃ оси O'Z' из следующих выражений:

l₃=m₁n₂-m₂n₁; m₃=l₂n₁-l₁n₂; n₃=l₁m₂-l₁n₂.By vectors

coinciding with the corresponding axes O'X 'and O'Y' of the Cartesian coordinate system O'X'Y'Z '(Fig. 1) in block 14, the guide cosines l ₁ , m ₁ , n _{1 of the} axis O'X' are determined guide cosines l ₂ , m ₂ , n _{2 of the} axis O'Y 'and guide cosines l ₃ , m ₃ , n _{3 of the} axis O'Z' from the following expressions:

l ₃ = m ₁ n ₂ -m ₂ n ₁ ; m ₃ = l ₂ n ₁ -l ₁ n ₂ ; n ₃ = l ₁ m ₂ -l ₁ n ₂ .

 The axes of the O'X'Y'Z 'coordinate system are rigidly connected to the object 16, therefore their orientation in the OXYZ coordinate system also determines the position of the object 16 in the OXYZ coordinate system.

 The proposed device for determining the position of an object according to the second embodiment, compared with a device adopted as an analogue and prototype, provides for the determination of the coordinates and angular position of an object in a substantially limited space (in the vicinity of a point from which the distance to the actual location of the object differs by ± 11.5% ), which increases the speed of determining the position of the object by more than an order of magnitude. In addition, the proposed technical solution according to the second embodiment, in comparison with the technical solution according to the first embodiment, provides the determination of the direction cosines of the axes O'X ', O'Y', O'Z 'of the Cartesian coordinate system O'X'Y'Z', with the object, which makes it possible to determine not only the angles of the course and pitch of the object, but also the angle of heel of the object.

 In the proposed device, the inductor can be made in the form of measures of magnetic moment, and three-component magnetosensitive sensors can be implemented from passive one-component induction sensors [3]. Amplifier-conversion units, each of which consists of a selective amplifier and a synchronous detector, can be performed in the same way as in a magnetometer [6]. The alternating voltage generator can be performed according to the circuit given in [7]. A multi-channel measuring converter (PIM-1, certificate N 15660-96, Gosstandart of Russia) can serve as a computing unit.

Literature
1. Smirnov B.M. Magnetometric method for determining the position of an object. Measuring equipment, 1996, N 12, c. 34-37.

 2. Smirnov B. M. The method of determining the coordinates and magnetic moment of a dipole field source. Measuring equipment, 1988, N 9, c. 40-42.

 3. Magnetic measurements / E.T. Chernyshev, E.N. Chechurina, N.G. Chernysheva, N.V. Studentsov. M .: Publishing House of the Committee of Standards and Measuring Instruments, 1969.

 4. Application N 9911440/09 (011724) RF MKI G 01 R 33/02, G 01 C 21/04. A device for determining the position of the object / B.M. Smirnov // Positive decision of March 14, 2000.

 5. Laptev G.F. Elements of vector calculus. M .: Nauka, 1975, 335 c.

 6. Afanasyev Yu. V. Fluxgate devices. L .: Energoatomizdat, 1986, p. 117,132,135,137.

 7. Gutkin B.C. The use of operational amplifiers in measurement technology. L .: Energy, 1975, p. 67.

Claims (2)

 1. A device for determining the position of an object, including an inductor located on the object, two three-component magnetosensitive sensors, nine amplifier-converter blocks, an alternating voltage generator, and a computing unit, the first input of the first amplifier-converter unit is connected to the output of the first sensor, the first input the second amplifier-converter unit is connected to the second output of the first sensor, the first input of the third amplifier-converter unit is connected to third nth output of the first sensor, the first input of the fourth amplifier-converter unit is connected to the first output of the second sensor, the first input of the fifth amplifier-converter unit is connected to the second output of the second sensor, the first input of the sixth amplifier-converter unit is connected to the third output of the second sensor, the first output of the generator alternating voltages connected to the second inputs of the first, second, third, fourth, fifth and sixth amplification-conversion blocks, and the second and third outputs to the pin odes of the inductor, the outputs of all nine amplifier-converter blocks are connected to the computing unit, characterized in that it is equipped with a third three-component magnetosensitive sensor, in which the first output is connected to the first input of the seventh amplifier-converter unit, the second output to the first input of the eighth amplifier converter unit, the third output is to the first input of the ninth amplifier-converter unit, the second inputs of the seventh, eighth and ninth amplifier-converter Yelnia blocks are connected to the first output AC voltage, the three-magnetosensitive sensor arranged in a triangle.  2. A device for determining the position of the object, including two inductors with mutually orthogonal axes located on the object, two three-component magnetosensitive sensors, eighteen amplifier-converter blocks, an alternating voltage generator and a computing unit, the first inputs of the first and tenth amplifier-converter blocks are connected to the first output of the first sensor, the first inputs of the second and eleventh amplification-conversion blocks are connected to the second output of the first sensor ka, the first inputs of the third and twelfth amplification-conversion blocks are connected to the third output of the first sensor, the first inputs of the fourth and thirteenth amplification-conversion blocks are connected to the first output of the second sensor, the first inputs of the fifth and fourteenth amplification-conversion blocks are connected to the second output of the second sensor, the first inputs of the sixth and fifteenth amplification-conversion blocks are connected to the third output of the second sensor, the first output of the alternating voltage generator connected to the second inputs of the first, second, third, fourth, fifth and sixth amplification-conversion blocks, the second output to the second inputs of the tenth, eleventh, twelfth, thirteenth, fourteenth and fifteenth amplification-conversion blocks, the third and fourth outputs to the conclusions of the first inductors, and the fifth and sixth outputs to the conclusions of the second inductor, the outputs of all eighteen amplifier-converter blocks are connected to the computing unit, characterized in that it is equipped with about the third three-component magnetosensitive sensor, in which the first output is connected to the first inputs of the seventh and sixteenth amplification-conversion blocks, the second output is to the first inputs of the eighth and seventeenth amplification-conversion blocks, the third output is to the first inputs of the ninth and eighteenth amplification-conversion blocks, the second inputs of the seventh, eighth and ninth amplification-conversion blocks are connected to the first output of the alternating voltage generator, and the second inputs of the sixteenth, seventeenth and eighteenth amplification-conversion blocks are connected to the second output of the alternating voltage generator, while three-component magnetosensitive sensors are located at the vertices of the triangle.

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