RU2690526C1 - Method of determining object location and device for its implementation - Google Patents

Abstract

FIELD: physics.SUBSTANCE: method of determining the location of an object and a device for implementing said object are related to the section of physics and can be used in determining absolute coordinates of a movable object relative to a zero coordinate for the needs of direction-finding, measuring distance or speed, determining location and detecting objects. Method consists in that measurement of coordinates of object location is carried out by creation of magnetic field by emitter, its recording by receiver, wherein the emitter is made in the form of three frames, prior to measurement calibration is performed, which is necessary to determine constants, magnetic field during measurement is created rotating, determining the magnetic field parameters at the measurement point and calculating its coordinates. Device implementing the method includes an emitter, a receiver, two generators, a controller, three current amplifiers, two switches, a control panel, a constant computer, induction meters Bx, By, Bz, three synchronous filters connected to each other in a certain manner.EFFECT: technical result is improvement of speed and accuracy measurements.2 cl, 4 dwg

Description

The invention relates to the section of physics and can be used in determining the absolute coordinates of a moving object relative to the zero coordinate for the needs of direction finding, navigation, measuring distance or speed to determine the location or detection of objects.

A known method for determining the location of an object (the book Calculation of a Probabilistic Criterion for the Reliability of a Dipole Localization in the Inverse Problem of Magnetostatics / Gumenyuk - Sychevsky V.I., Nedayvoda I.V., Primin MA - Kiev, 1990. 17 p. (Prep. / AN Inst. Of cybernetics named after VM Glushkov)), which consists in the fact that spatial analysis of the vector of magnetic induction and its derivatives solves the inverse problem of magnetostatics, when the location of a dipole source of the field is determined by the magnetic field known at some point in space This point and the dipole or quadrature moment of the source. Moreover, if the field source is approximated by a magnetic dipole with the moment M, then the solution of the inverse problem is obtained using iterative, analytical or instrumental-analytical methods. For example, with the first and second derivatives of the magnetic induction vector measured at one point in space, the solution of the problem is obtained analytically and implements an information processing algorithm in real time. The method performs the functions assigned to it, however, it has low stability since, as the authors themselves point out, small errors in the measured field parameters lead to significant errors in determining the location and the vector of the magnetic moment of the dipole.

A known method of positioning a moving object in a fixed coordinate system (RF Patent No. 2413957 IPC G01S 3/00 (2006.01), year of publication 2011), which consists in generating successively in time bipolar pulses of magnetic fields of different spatial orientation, measure orthogonal components of the magnetic field at the top of the pulse of each polarity of each bipolar magnetic field pulse of each spatial orientation on a moving object; compensate for the influence of the Earth’s magnetic field by pairwise subtraction of the components of the magnetic fields measured during the different polarities of each bipolar magnetic field, save the compensated measured components of the magnetic fields, calculate the current coordinates of the mobile receiver after each switching orientation of the magnetic field, using the current compensated components of the magnetic field, as well as the stored compensated magnetic field components obtained during the previous their bipolar magnetic field pulses of a different orientation with respect to the current bipolar pulse, constituting a repetitive period of generation of a pulsed magnetic field. The method solves the problem, but for its implementation requires a special design of sensors with minimal dimensions, as well as reducing the impact of the pulsed nature of the load on the power supply.

As a prototype, a method of positioning the emitter-receiver pair was used to determine their mutual position (Zhelamsky MV, Features of measuring the local magnetic field of positioning at short distances. Journal Measuring Equipment No. 9, 2014 p. 39-43). The method consists in creating independent magnetic fields that are separately recorded by a moving receiver with several sensors, while for determining six coordinates (three linear and three Euler angles) the emitter contains three independent windings, and the moving receiver - up to three mutually orthogonal induction sensors the data set obtained from the sensors is used to recalculate the parameters of the field emitter into the coordinates of a moving object by periodically solving systems of nonlinear equations taking into account the math ical model of the magnetic field of the radiator. The determination of the coordinates of the object is based on the fact that the law of distribution of the magnetic field in space is known. In this case, the system of equations is solved, with at least six unknowns. For example, three coordinates of an object, three vectors of orientation of an object in space. As a rule, three more unknowns are added, related to the inaccuracy of manufacturing sensors. In view of the change in the magnitude of the magnetic field by several orders of magnitude, precise multiple measurements are required to highlight the useful signal above the level of natural noise. The difficulty of presenting the solution in an analytical form, the error in measuring physical quantities in a wide dynamic range, the need for noise filtering lead to iterative methods for solving coordinates. This is not an easy task, given the number of unknowns and the limited time for finding the coordinates of moving objects.

Method - the prototype performs the tasks set for it, but it has two significant drawbacks:

1. The accuracy of the measurements made depends substantially on the accuracy of the mathematical model of the emitters and magnetic field receivers involved in the calculation of the final result. For example, the estimation of errors in solving the inverse problem of magnetostatics is given in the literature (Calculation of a probabilistic criterion for the reliability of a dipole localization in an inverse problem of magnetostatics / Gumelyuk - Sychevsky V.I., Nedaivoda I.V., Primin M.A. - Kiev, 1990. - 17 C - (Prep. / AS USSR. Institute of Cybernetics them. Glushkov)). The radiator there is represented by a model of a magnetic dipole. The estimate indicates a fairly high allowable error of ± 10% with a probability of 0.9, which is unacceptable in some practical applications.

In addition, the computational operations in determining the location of the receiver is delayed, since the calculation of the parameters of a complex mathematical model of the elements of the system should be performed regularly.

2. The introduction of magnetic products (iron) into the measurement zone distorts the magnetic field. Even a slight deviation of the magnetic field from the model is a big problem. In this case, in the literature (Zhelamsky, MV, Electromagnetic Positioning of Moving Objects. M: Fizmatlit, 2013, p. 201 and p. 204), the mapping of the magnetic field is recommended.

A known system for determining the position and orientation of an object moving in a limited region of space (RF Patent No. 22,11958 IPC G01C 21/00 (2000.01), G05D 1/00 (2000.01), year of publication 2004), containing the source of the working field, configured to form in the above-mentioned area of movement of an inhomogeneous asymmetric constant magnetic field object, at least six one-component differential magnetic field sensors for measuring current magnetic field gradients located in the area of object movement with securing a tight connection with the object and eliminating mutual duplication, a device for receiving sensor signals and transmitting these signals to data processing devices containing a memory block for storing the coordinates of the sensors defined in the object’s coordinate system and the calculated magnetic field gradients formed by the source of the working field, and computational unit for solving a system of at least six algebraic equations including the mentioned coordinates of the sensors and compiled by equating the measured values ntov to the calculated magnetic field gradients, with obtaining three linear and three angular coordinates of the object. The technical solution proposed by the authors, requiring complex real-time computational operations, delays the process of determining the coordinates of the object.

The system of local navigation is known (Chernonozhkin V.A., Polovko S.A. The system of local navigation for ground mobile robots. Scientific electronic library "CYBERLININKA", https://cyberleninka.ru/article/v/sistema-lokalnoy-navigatsii-dlya -nazemnyh-mobilnyh-robotov). The system consists of a block of sensitive elements (three gyroscopes and three accelerometers), a block of software processing of information (it includes the main module, the input packet processing module, the navigation information definition module, the log saving / reading module), and the control panel. The system provides for the connection of a program processing unit with a unit of sensitive elements, and a control panel. The disadvantages of the system are the complexity of implementation, the need to use sensitive sensors (gyroscopes and accelerometers), as well as the need for initial setup and the accumulation of an error in determining the navigation parameters of an object with time.

The device for magnetic positioning was chosen as a prototype (Zhelamsky MV. First domestic magnetic tracker for target designation. Journal of Sensors and Systems No. 1, 2011 p. 9-15). The device whose scheme is shown in Fig. 2 of the specified literary source, consists of a fixed magnetic field generator, a movable receiver attached to the object, a controller, an interface and a transmitter, and the interface is connected to a movable receiver, and through the controller and the magnetic field generator, and the calculator is connected via an interface and controller the output of the magnetic field generator and the output of the rolling receiver. The device performs its functions, but has insufficient accuracy, which was shown in the analysis of the performance of the method - the prototype. Namely:

1. The accuracy of the measurements made depends substantially on the accuracy of the mathematical model of the emitters and magnetic field receivers involved in the calculation of the final result. For example, the estimation of errors in solving the inverse problem of magnetostatics is given in the literature (Calculation of a probabilistic criterion for the reliability of a dipole localization in an inverse problem of magnetostatics / Gumelyuk - Sychevsky V.I., Nedaivoda I.V., Primin M.A. - Kiev, 1990. - 17 C - (Prep. / AS USSR. Institute of Cybernetics them. Glushkov)). The radiator there is represented by a model of a magnetic dipole. The estimate indicates a fairly high allowable error of ± 10% with a probability of 0.9, which is unacceptable in some practical applications. In addition, the computational operations in determining the location of the receiver is delayed, since the calculation of the parameters of a complex mathematical model of the elements of the system should be performed regularly.

2. The introduction of magnetic products (iron) into the measurement zone distorts the magnetic field. Even a slight deviation of the magnetic field from the model is a big problem. In this case, in the literature (Zhelamsky, MV, Electromagnetic Positioning of Moving Objects. M: Fizmatlit, 2013, p. 201 and p. 204), the mapping of the magnetic field is recommended.

The main operations used by the above-mentioned known methods and elements of all devices that implement them are radiation (emitter for devices) and measurement (radiation receiver for the device). In our case, the radiation is associated with the creation of a magnetic field, measurement - with the evaluation of the magnetic field at the point of measurement.

So, carrying out the tasks assigned to him, the method and device for its implementation have low accuracy and low speed, and also does not show robust properties when introducing soft magnetic materials into the measurement zone.

The technical result of the invention is to improve the accuracy of measurement and increase speed.

This result is achieved due to the fact that the method of determining the location of the object, which consists in measuring the coordinates of its location by creating a magnetic field with an emitter, registering it with a receiver, and then calculating the coordinates of the location of the receiver, is complemented by the fact that the emitter is made using three frames, moreover, the three frames of the radiator x, y and z are arranged in mutually perpendicular planes, the receiver is made using three frames x, y and z arranged in mutual perepend Before the measurement, calibration is performed on the visual planes necessary for determining the constants used in calculating the receiver coordinates. To do this, place the receiver at a point with coordinates (x, 0, 0), create a magnetic field by connecting a sinusoidal signal generator to the radiator frame x, measure the magnetic induction by receiver frame x, this parameter is used to calculate the constant Kx and memorize it, move the receiver to a point with coordinates (0, y, 0), create a magnetic field by connecting a sine wave generator to the frame of the radiator y, measure the magnetic induction with the receiver frame y, use this parameter to calculate the constant Q and memorize it, locate the receiver at a point with coordinates (0, 0, z), create a magnetic field by connecting a sinusoidal signal generator to the radiator frame z, measure the magnetic induction frame receiver z, this parameter is used to calculate the constant Kz and memorize it; then, to determine the coordinates of the selected point, a receiver is set in it, a rotating magnetic field is generated by the radiator, connecting two generators of sinusoidal signals, shifted relative to each other by 90 electrical degrees, to two of the three radiator frames x and y, the receiver’s frame x measures the magnetic induction at the selected point, determines the phase angle of shift α of the sinusoid magnetic induction at the measuring point relative to the generated radiator and the maximum magnetic induction Bx, remember the values of the angle α and the maximum value of the magnetic induction Bx, the emitter forms a rotating magnetic field, connecting two generators of sinusoidal signals shifted relative to each other ug by 90 electrical degrees, to two of the three radiator frames y and z, the receiver’s frame y measures the magnetic induction at the selected point, determines the phase shift angle β of the sinusoid magnetic induction at the measurement point relative to the generated radiator and the maximum magnetic induction By, remember the angle values β and the maximum value of the magnetic induction By, the emitter forms a rotating magnetic field, connecting two generators of sinusoidal signals, shifted relative to each other by 90 electrical degrees, to two of the three frames of the radiator z and x, the frame of the receiver z measure the magnetic induction at the selected point, determine the phase shift angle γ of the sinusoid magnetic induction at the measurement point relative to that generated by the radiator and the maximum value of magnetic induction Bz, remember the values of angle γ and the maximum value of magnetic induction Bz and then calculate the current coordinates of the position of the receiver, using the stored data on the constants Kx, Ku, Kz, angles α, β, γ and the values of the maximum values of magnetic induction Bx, By and Bz.

The technical result is achieved in that the device for determining the location of the object containing the emitter and receiver, the first generator, controller, its third output connected to the second input of the transmitter, designed to calculate the current coordinates of the location of the receiver, introduced the first current amplifier, second current amplifier, third current amplifier , first switch, second generator, control panel, second switch, constant calculator, Ix induction meter, By induction meter, Bz induction meter, the first synchronous filter, the second synchronous filter, the third synchronous filter, while the radiator is made in the form of a radiator frame x, the radiator frame y and the radiator frame z oriented relative to each other in mutually perpendicular planes, the receiver is made in the shape of a receiver frame x, the receiver frame y and receiver frame z, oriented relative to each other in mutually perpendicular planes, radiator frame x is connected to the output of the first current amplifier, radiator frame y is connected to the output of the second current amplifier, pa The transmitter emitter z is connected to the output of the third current amplifier, the input of the first current amplifier is connected to the first output of the first switch, the input of the second current amplifier is connected to the second output of the first switch, the input of the third current amplifier is connected to the third output of the first switch, to the first information input of the first switch is connected the output of the first generator, and the output of the second generator are connected to the second information input of the first switch; the controller is connected to the control input of the first one with its first output switch, the control panel is connected to the controller input, the second controller output is connected to the control input of the second switch, the first output of the second switch is connected to the first input of the calculator through the calculator of the constant, the third input of the calculator is connected to the second output of the second switch, the receiver x frame is connected through the induction meter Вх to the information input of the first synchronous filter, the output of which is connected to the first information input of the second switch, the receiver frame y through the meter By line is connected to the information input of the second synchronous filter, the output of which is connected to the second information input of the second switch, receiver frame z is connected via the induction meter Bz to the information input of the third synchronous filter whose output is connected to the third information input of the second switch, and the output of the first generator connected to the synchronization inputs of the first synchronous filter, the second synchronous filter and the third synchronous filter, the output of the control panel is connected to the control The main inputs of the first synchronous filter, the second synchronous filter, and the third synchronous filter, the first and second generators producing sinusoidal signals at their outputs that are shifted relative to each other by 90 electrical degrees.

FIG. 1 shows the time diagrams of the magnetic field induction, measured at various points at different angles to the radiator, made in the form of a rotating magnet; in fig. 2 shows time diagrams of the magnetic field induction, measured at various points at different angles to the radiator, made in the form of two frames with an electric current when the magnetic field is rotated electrically; in fig. 3 shows a vector diagram illustrating the procedure for determining the coordinates of an object using three dimensions, and FIG. 4 shows a block diagram of a device implementing the proposed method.

For FIG. 1, the following notation is introduced: N and S are the north and south poles of the permanent magnet 1, which is the emitter of the magnetic field and rotating at a constant angular velocity ω in a Cartesian coordinate system with the axes y and x; "1", "2" and "3" - three positions of the receiver, differing in different angles with respect to the radiator (magnet); B1 - induction of the magnetic field of the receiver at the point “1”; B2 - induction of the magnetic field of the receiver at the point “2”; B3 - induction of the magnetic field of the receiver at the point “3”; α1 and α3 are temporal deviations of induction at measurement points from the original sinusoid of induction of the radiator, which characterize the angles of the receiver relative to the radiator for three selected points in space. It should be noted that for the point “2” the angle α2 = 0, that is, the receiver is located coaxially with the radiator. FIG. 2 shows two radiator frame x 2 fixed at 90 ° and oriented in the x axis and radiator frame y 3 oriented in the y axis with currents i _x and i _y, respectively. The emitter frames x and y 2 and 3 play the role of a magnetic field emitter, which is controlled by adjusting the instantaneous values of the currents within a sinusoidal pattern. The currents i _x and i _y within the radiator x and y 2 and 3 are shifted relative to each other by 90 electrical degrees, which makes it possible to synthesize a rotating magnetic field similar to that obtained by using the magnet in FIG. 1. The remaining symbols in FIG. 2 are similar to those of FIG. 1. In FIG. 3 the following notation is used: x, y and z are orthogonal axes corresponding to the three frames of the radiator; Bx, By and Bz are the projections of the induction vector measured by the receiver on the axis; r is the resulting magnetic induction vector B, measured by the receiver; α, β and γ are the angular indices characterizing the location of the object relative to the radiator. FIG. 4 are designated: 2 - emitter frame x, 3 - emitter frame y, 4 - emitter frame z, oriented relative to each other at an angle of 90 geometric degrees. Frames 2, 3 and 4 are connected to the outputs of the first current amplifier 5, the second current amplifier 6 and the third current amplifier 7, respectively. Current amplifiers 5, 6 and 7 form at their outputs an electric current sufficient to create the required magnetic flux generated by the x, y and z 2, 3, and 4 frames of the radiator in three mutually perpendicular directions. In turn, the input of the first current amplifier 5 is connected to the first output of the first switch 8, the input of the second current amplifier 6 is connected to the second output of the first switch 8, the input of the third current amplifier 7 is connected to the third output of the first switch 8. To the first information input of the first switch 8 the output of the first generator 9 is connected, and the output of the second generator 10 is connected to the second information input of the first switch. The first 9 and second 10 generators produce sinusoidal signals shifted by each relative to their outputs Tel'nykh other by 90 electrical degrees, as shown in FIG. 2. This allows you to synthesize a rotating magnetic field. The controller 11 at its first output, connected to the control input of the first switch 8, generates a control signal that indicates the order of connection of the first generator 9 and the second generator 10 to the first 5, second 6 and third 7 amplifiers. To select the mode of the controller 11, a control panel 12 is provided, the signal from the output of which is connected to the input of the controller 11. The second output of the controller 11 is connected to the control input of the second switch 13, the first output of the second switch 13 via the constant calculator 14 is connected to the first input of the calculator 15, the second input which is connected to the third output of the controller 11, the third input of the transmitter 15 is connected to the second output of the second switch 13. The definition of magnetic induction, formed at the measuring point of the radiator frame x 2, frame The radiator y 3 and the radiator frame z 4 are carried out by the receiver frame x 16, the receiver frame y 17 and the receiver frame z 18. The voltages Ux, Uy and Uz, arising from the effect of the time-varying magnetic field of the radiator on the respective receiver frames, are connected as follows . The receiver frame x 16 through the induction meter In 19 is connected to the information input of the first synchronous filter 20, the output of which is connected to the first information input of the second switch 13. The receiver frame y 17 through the induction meter By 21 is connected to the information input of the second synchronous filter 22 whose output is connected with the second information input of the second switch 13. The frame of the receiver z 18 through the induction meter Bz 23 is connected to the information input of the third synchronous filter 24, the output of which is connected to the third information input of the second switch 13. In addition, the output of the first generator 9 is connected to the synchronization inputs of the first synchronous filter 20, the second synchronous filter 22 and the third synchronous filter 24, and the output of the remote control 12 is connected to the control inputs of the first synchronous filter 20, the second synchronous filter 22 and of the third synchronous filter 24. Induction meter x 19, induction meter y 21 and induction meter z 22 are designed to convert voltages Ux, Uy and Uz into voltages corresponding to magnetic ind ktsii for each axis with the transmitter frequency signal, the number of turns and size of the frames and their design features.

The method is as follows. The proposed method, which is based on a rotating magnetic field, and determining the coordinates relative to the beginning of the rotation of the magnetic field of the radiator, eliminates the need for using a complex mathematical model of the magnetic field of the radiator when determining the coordinates of the receiver.

A rotating magnetic field can be created, for example, by a rotating magnet 1 (Fig. 1). The given time diagrams of magnetic induction B at various points in space are an illustration of the proposed principle of determining the coordinates. When the magnet rotates with angular velocity с, one can determine the time shift of the magnetic induction vector at the measurement point. FIG. 1 shows three points of space (1, 2 and 3) in which magnetic induction B is measured. If you synchronize the time diagrams with the angle of rotation of the magnet 1, you can determine the angle of the vector connecting the sensor with the axis of rotation of the radiator from the time diagram taken from the sensor . This is the angle α1 for point 1 or + α3 for point 3. For point 2, this angle is zero. By rotating the magnet 1 in three planes, it is possible to determine the angles of the induction vector in all the planes, as shown in FIG. 3. However, the mechanical rotation of the magnet 1 has several disadvantages: it is impossible to rotate the magnet simultaneously in three planes; the frequency of rotation of the magnet 1 is limited to energy design and technological capabilities.

The field can be rotated electrically. To do this, in the radiator frame x 2 and the radiator frame y 3, located perpendicular to the plane of rotation of the magnetic field, create a sinusoidal current, shifted by 90 electrical degrees relative to each other (Fig. 2). The magnetic field generated by each frame is folded geometrically. A rotating magnetic field is formed in space, similar to the mechanical rotation of a magnet.

To create a rotating field in three planes, three frames are used, located perpendicular to each other in planes x (radiator frame x 2), y (radiator frame y 3), z (radiator frame z 4) as shown in FIG. 4. When creating a rotating magnetic field, a pair of radiator frames are used alternately in time: radiator frame x 2, radiator frame y 3; emitter frame x 2, emitter frame z 4; emitter frame y 3, emitter frame z 4. A sinusoidal current, out of phase 90 degrees relative to each other, flows through the frames in each pair.

To measure the magnetic field is used three-coordinate receiver. One of the options for measuring the magnetic field is to measure the potential in the receiving frame. To measure the three vectors of the magnetic field, three frames are used, located in perpendicular planes. The magnitude of the magnetic induction is obtained by geometrically adding the vectors obtained from these frames, as shown in FIG. 3

For example, the orientation of an object in space is known and the measuring frames are located in the plane of the radiation framework. For simplicity, we assume that the emitter of the magnetic field is a dipole.

For example, we will calculate the coordinates by the measured values. Imagine a Cartesian coordinate system x, y, z. After carrying out three experiments with rotating the magnetic field in three planes and measuring the magnetic field vector, the angles of the object α, β, γ and the value of the magnetic field induction vector B (Fig. 3) are known. In the first experiment, the current is supplied to the frames located in the X, Y planes, in the second experiment - in the X, Z planes, in the third - in the Y, Z planes. The equation relating the coordinates and the value of the magnetic field in general form for a dipole is given in book (Analytical methods for localizing a dipole source of a magnetic field / V.I. Gumenyuk-Sychevsky, I.V. Nedayvoda, M.A. Premin. - Kiev, 1990. - 19 p. - (Preprint; / Academy of Sciences of the Ukrainian SSR. Institute of Cybernetics named after V. M. Glushkov; 90-21)) on page 3. The dipole equation is simpler, but it can be used with a large distance of the object from the magnetic emitter total field. In this case, the model error is insignificant.

We write equations 1 and 2 for the induction of a magnetic field:

where x, y, z are the geometric coordinates of the position of the object in space in meters;

r is the resultant magnetic induction vector B;

μ = μ0 * μ1;

μ0 is the magnetic constant H * m; μ1 is the magnetic permeability of the medium, equal to 1 for air;

Mh, My, Mz magnetic moment А⋅м ² .

To find the desired results x, y, z, it is necessary to find some constants at the calibration stage (let's call them Kx, Ku, and Kz). In the calibration mode, a magnetic field is created alternately for each of the three frames of the radiator, and the meter is set at a given point with a known distance from the radiator. For example, for the first experiment, the receiver is located strictly along the x axis from the emitter (the y and z coordinates are zero at this point), and therefore only Mo moment is generated, a My = 0, Mz = 0. Denote by Kx the values that do not change during this measurement.

This constant is determined when calibrating the emitter. It depends on the current flow, the number of turns, the area of the frame with current and design features. For this experience, equation 2 can be represented as 3.

As y = 0, z = 0, can be determined kx = Bx · x ^3/2. Placing successively the meter in the points with coordinates: x = 0, y = Y, z = 0; x = 0, y = 0, z = Z in the calibration mode, you can determine the remaining constants Kу, Kz.

In the "work" mode, bearing in mind the geometric dependence of the coordinates represented by the system of equations 4

You can find the coordinates in the analytical form presented for the x coordinate by equation 5

For an accurate model of a frame with current and for finding coordinates in the zone nearest to the radiator, you can use the numerical solution of equation 1. The exact equation for the frame with current is given in the source (Zhelamsky MV Electromagnetic positioning of moving objects. - M .: FIZMATLIT, 2013. - 320 p. - ISBN 978-5-9221-1407-3) on page 123. This equation is rather complicated to represent in an analytical form. You can use the iterative method. In our case, this is quite simple, since the iteration is performed on one variable. Other variables are related by 4.

Based on the above mathematical calculations, the process of determining the location of an object is as follows.

In the process of determining the location of the object, two modes are distinguished: “calibration” and “work”.

The “calibration” mode of operation is intended to determine the constants Kx, Ku, and Kz involved in the calculation of coordinates and is setup. At the same time, the radiator itself, formed by the radiator x, y and z (2, 3, and 4) frames, is located at a given point with a known distance from the radiator and remains fixed in space. During the first measurement, the receiver is located at a given distance x from the emitter, when the coordinates y and z of the receiver relative to the emitter are equal to zero. After selecting this mode from the remote control 12 to the input of the controller 11 receives a code that carries information about the selected mode. The first output of the controller 11 according to the algorithm of the controller 11 generates a signal that arrives at the control input of the first switch 8. The first switch 8 uses this signal to connect the output of the first generator 9 through its first output to a sinusoidal signal to the input of the first current amplifier 5. This amplifier serves for matching electrical signals between the first output of the first switch 8 and the radiator frame x 2, provides a sinusoidal current ix in the radiator frame x 2.

The magnetic field formed by the radiator frame x 2 is perceived by the receiver frame x 16 and in the form of voltage Ux is fed to the input of the induction meter Bx 19. This node converts the voltage Ux into a voltage corresponding to the magnetic induction Bx taking into account the frequency of the radiator signal, the number of turns and the size of the receiver frame x 16 and its design features. Next, the received signal is processed by the first synchronous filter 20, the purpose of which is to determine the amplitude of the measured signal and its phase relative to the signal of the first generator 9. For the successful operation of the first synchronous filter 20, a signal from the first generator is fed to its clock input.

The operation of the synchronous filters 20, 22 and 24 is the same and consists of the following. A synchronous filter is used when the frequency of the signal coming from the receiver ω, as in our case, is exactly known. Let there be a periodic signal: Acos (ωt + α), where you need to find the amplitude A and the phase α relative to the reference signal of the same frequency coming from the first generator 9. We perform a mathematical operation, multiplying the signal coming from the receiver and having a phase shift α, signal sin (ωt) and cos (ωt), which is fairly simple to synthesize at a known frequency ω. We get:

This follows from the mathematical formulas:

cos (α) cos (β) = l / 2 (cos (α-β) + cos (α + β)) cos (α) sin (β) = l / 2 (sin (α-β) + sin (α + β)) If we carry out the integration (summation) of the right expressions for the period T, then the periodic components will be zero, and we will get some numbers N and M.

From here we calculate the amplitude and phase of the signal:

Since at the stage of calibration it is necessary to determine only the amplitude of the signal, the first synchronous filter 20 receives from the control unit 12 a calibration mode signal received at the control input of the first synchronous filter 20. By this signal, the algorithm of the first synchronous filter is adjusted to determine only the induction amplitude Bx by the formulas 8, 9 and 10.

The received signal about the amplitude of induction B from the output of the first synchronous filter 20 is fed to the first information input of the second switch 13, to the control input of which from the controller 11 comes a control code indicating that the calibration mode is selected and which of the frames (in this If the frame radiator x 2) is involved in the calibration mode. By this control signal, the second switch 13 transmits a signal from the first synchronous filter 20 to the first output of the second switch 13, which leads to the input of the calculator of constants 14 of information on the magnitude of the magnetic induction Bx measured by the receiver frame x 16. This value allows the formula obtained above, calculate the constant kx x = Bx · ^3/2, considering that the value x is given distance, but wherein the transmitter and receiver are in the calibration mode. The resulting value of Kx from the output of the evaluator constants 14 is fed to the first input of the transmitter 15, in which it is fixed.

After that, one can proceed to the determination of the constants Ku and Kz, for which, in the same manner as in the definition of Kx, the receiver frame y17 and the receiver frame z18 are placed alternately and successively in points with coordinates x = 0, y = Y, z = 0; x = 0, y = 0, z = Z. In this measure, the known geometric

indicators y and z, which makes it possible to determine the constants Ky and Kz in the way stated earlier for the constant Kx. In order to define constants in calibration mode, the following features are available. When determining K, the signal from the remote control 12 to the input of the controller 11 receives a code that carries information about the selected mode. The first output of the controller 11 according to the algorithm of the controller 11 generates a signal that goes to the control input of the first switch 8. The first switch 8 on this signal connects a sinusoidal signal from the output of the first generator 9 through its second output to the input of the second current amplifier 6. This amplifier, serving to match the electrical parameters of the output of the first switch 8 and the radiator frame y 3, provides a sinusoidal current iy in the radiator frame y 3. At the same time, the radiator formed by frames 2, 3 and 4 races relies on a given point with a known distance y from the receiver and remains motionless in space.

The magnetic field formed by the radiator frame y 3 is perceived by the receiver frame 17 and as a voltage Uy is fed to the input of the induction meter By 21. This node converts the voltage Uy into a voltage corresponding to the magnetic induction By considering the frequency of the radiator signal, the number of turns and the size of the frame at the receiver 17 and its design features. Next, the received signal is processed by the second synchronous filter 22, the purpose and principle of operation of which are the same as for the first synchronous filter 20. The signal on the induction value By from the output of the second synchronous filter is fed to the second information input of the second switch 13, to the control input from the controller 11 comes a control code indicating that the calibration mode is selected and which of the frames (in this case, the frame at the emitter 3) participates in the calibration mode. By this control signal, the second switch 13 transmits a signal from the second synchronous filter 22 to the first output of the second switch 13, which leads to the input of the calculator of constants 14 of information on the magnetic induction By, measured by the receiver frame at 17. This value allows using the formula obtained above, calculate the constant Wu Ku = y · ^3/2, considering that the value of y given by the distance at which the calibration mode are the transmitter and receiver. The resulting value Ku from the output of the calculator constants 14 is fed to the first input of the calculator 15, in which it is fixed.

Next, make the definition of Kz, having the frame of the receiver z 18 in a point with coordinates x = 0, y = 0, z = Z. At the same time, the controller 11, which generates a code at its first output that controls the first switch 8, the first switch 8 connects the first generator 9 to the third output, and the third current amplifier 7 generates a sinusoidal current at its output enters into the frame of the radiator z 4. In the process of receiving information necessary for calculating Kz, the frame of the receiver z 18, the induction meter Bz 23, the third synchronous filter 24, the signal from the output of which goes to the third information input, participate switch 13. The operation of the constant calculator 14 and the calculator 15 is similar to the two previously considered cases. The value determined by the expression KZ Kz = Bz · z ^3/2. This completes the calibration mode.

At the end of the calibration from the remote control 12 to the input of the controller 11 receives a code corresponding to the mode "work". When this frame emitter 2, 3 and 4 are located at a given point, and the frame of the receiver 16, 17 and 18 are located at the point, the coordinates of which must be determined. At its first output, the controller 11 generates a signal arriving at the control input of the first switch 8. This signal contains information about which pair of radiator frames is involved in this stage of operation. Let an emitter frame x 2 and emitter frame y 3 be selected as the source of the rotating magnetic field. In this case, the first switch 8 connects the first generator 9 through the first current amplifier 5 to the emitter frame x 2 and provides a sinusoidal current with a given frequency ω . At the same time, the switch 8 connects the second generator 10 connected to the second input of the switch 8 to its second output and through the second current amplifier to the radiator frame at 3. At the same time, the first and second generators 9 and 10 form the first and second inputs of the first switch 8 sinusoidal signals are shifted relative to each other by 90 electrical degrees, which ensures that the radiator x 2 and the radiator frame y 3 form a rotating magnetic field. To determine the magnitude and phase shift of the magnetic field at the measuring point relative to the radiated, a receiver frame x 16 is used. The received signal from the receiver frame x 16 is processed by an induction meter Bx 19 and is fed to the information input of the first synchronous filter 20. At the synchronization input of the synchronous filter 29 to this point the output of the first generator 9 receives a sinusoidal signal, relative to which it is necessary, in addition to induction Bx, to determine (unlike the “calibration” mode) also the phase shift α (see FIG. 3). These values from the output of the first synchronous filter 20 are fed to the first input of the second switch 13. The control input of the second switch 13 from the second output of the controller 11 receives information about the selected mode and the framework of the radiator that form a rotating magnetic field. The second switch transmits information from its first information input to the second output connected to the third input of the calculator 15. The calculator 15, which receives information about the selected mode of operation and the frames of the radiator that form the rotating magnetic field from the third output of the controller 11, stores the received information. The next stage of the “operation” mode is the process of determining the value of By and the angle β. For this, the emitter frame y 3 and the emitter frame z 4 are involved in the measurement procedure. The signal from the controller 11 at the control input of the first switch 8 generates a signal under which the first generator 9 is connected to the second output of the first switch 8 and then through the second current amplifier 6 to the radiator frame y 3. In turn, the second generator 10 is connected by the first switch 8 to the third output and through the third current amplifier 7 to the radiator frame z 4. These procedures lead to the formation in space of a rotating agnitnogo field, because the signals from the outputs of the first 9 and second generators are shifted relative to each other by 90 electrical degrees. To determine the induction of By and phase shift β, the receiver frame at 17 is used, the signal Uy from which is fed through the induction meter 21 to the information input of the second synchronous filter 22. The second synchronous filter due to information on its synchronization input from the first generator 9 and from the control panel 12 at the control input is configured to determine the angle β and induction By. Obtained by the previously considered method (formulas 6-11) values are received at the second information input of the second switch 13 and are fed through the second output to the third input of the calculator 15, where they are stored. In the third stage of measurement in the “work” mode, the radiator frame z 4 and radiator frame x 2 are used. In this case, the first generator 9 is connected to the radiator frame z 4 by the first switch 8, and the second generator 10 is connected to the radiator frame x 2. In this case angle γ and induction Bz. The procedure for determining these quantities is similar to the previously discussed using the example of the angles α and β, as well as the values of the inductions Bx and By. At the end of the measurement procedure, the calculator contains all the quantities necessary for determining the coordinates of the point where the radiation receiver is located. They can be easily determined by performing calculations using the system of equations (4) and equation (5). This happens on a signal from the remote control 12, which, giving a signal to the input of the controller 11, generates at the third output of the controller 11 a signal arriving at the second input of the calculator 15 and serving as a command to start the final calculations. Using the proposed method involves the rejection of the use of a mathematical model of a magnetic field, which improves the measurement accuracy and reduces the calculation procedure, increasing the speed of the installation.

The device for determining the location of the object works as follows. In the “calibration” mode, the radiator, which is a radiator frame x 2, radiator frame y 3 and radiator frame z 4, located mutually perpendicular to each other, is placed at some point in space. A receiver formed by three frames (receiver frame x 16, frame y 17 and frame z 18) is placed at a point with coordinates (x, 0, 0) with respect to the radiator, and the distance x is known in advance. The control panel 12 at its first output generates a signal that is fed to the input of the controller 11. From the first output of the controller 11, the control input of the first switch 8 receives a signal that connects the first generator 9 to the first output of the first switch and then through the first current amplifier 5 to the frame emitter x 2. The frame begins to form a magnetic field, fixed by the receiver.

On all the frames of the receiver 16, 17 and 18, the voltages Ux, Uy and Uz appear, which through the induction meter x 19, the induction meter y 21 and the induction meter z 23 form signals at the information inputs of the first synchronous filter 20, the second synchronous filter 22 and the third synchronous filter 24. At the same time, there is a synchronization signal from the first generator 9 on the synchronization inputs of the specified filters, and a signal from the control panel 12 on the control inputs. The signal from the control panel 12 on the control inputs of synchronous filters 20, 22 and 24 in this mode Having a “calibration”, instructs synchronous filters to determine only the magnitude of the amplitude of the inductions measured by the receiver. At the outputs of synchronous filters 20, 22 and 24, information appears on the amplitude of the signals characterizing the induction, measured by the corresponding receiver frames. However, the signal from the second output of the controller 11 connected to the control input of the second switch to the input of the constant calculator 14 through the first output of the second switch receives a signal only from the receiver x 16 frame, processed by the induction meter x 19 and the first synchronous filter 20. The calculator of the constants 14 calculates the coefficient Kx, necessary further to determine the coordinates of the location of the receiver along the x axis. This value is fed to the first input of the calculator 15 and stored there. At the second stage of the “calibration” mode, the receiver is transferred to a point with coordinates (0, y, 0), for which the distance y is known in advance, and the process of determining the coefficient Ku repeats the process of determining the coefficient Kx with the only difference that the signal from the control panel 12, the controller 11 generates at its first output a signal that instructs the first switch 8 to connect the first generator 9 through the second current amplifier 6 to the radiator frame at 3. At the same time, the second switch 13, which received at its control input a signal from the end of the troller 11, commutes information on the induction value By received from the receiver frame in 17, processed by induction meter By 21 and the second synchronous filter 22 from its second information input to the input of the constant calculator 14. In the constant calculator 14, the coefficient K is calculated, the value of which calculation is fed to the first input of the calculator 15 and stored there. After that, the receiver is placed at a point with coordinates (0, 0, z), for which the z coordinate is known in advance. The controller 11 generates a signal at its first output that instructs the first switch 8 to connect the first generator 9 through the third current amplifier 7 a sinusoidal signal of a given frequency to the radiator frame z 4. Reception signals determining the magnitude of the Bz induction generated by the magnetic field emitter are produced similarly to the above, but second the switch 13, according to the signal from the second output of the controller 11, arriving at the control input of the second switch 13, connects to the constant calculator 14 information from the third syncro filter 24. The calculator of the constants 14 will determine the value of Kz and transfers it to storage in the calculator 15 through its first input. At this mode "calibration" ends.

In the "work" mode, the control panel 12 at its output generates a code corresponding to the specified mode. This code is fed to the input of the controller 11, which transmits a signal to the control input of the first switch 8. According to this signal, the first switch 8 connects the first generator 9, generating a sinusoidal signal with a frequency ω, through the first current amplifier 5 to the radiator frame x 2. In addition, the first the switch 8 connects the second generator 10, generating a sinusoidal signal with a frequency co, but shifted by 90 electrical degrees with respect to the signal of the first generator 9, through the second current amplifier 6 with the radiator frame 3. Begin t radiate the rotating magnetic field sensed by the receiver. At this stage of the “operation” mode, the magnitude of induction Bx and angle α are measured, which indicate the coordinates of the location of the receiver with respect to the radiator, corresponding to FIG. 3. In this position, the signal Ux is estimated, fixed by the receiver frame x 16. By entering the induction meter 19 and then to the information input of the first synchronous filter 20, this signal allows you to estimate not only the magnitude of the induction amplitude Bx (as it was in the “calibration” mode) but the phase shift α, for which the sync input of the first synchronous filter 20 receives a signal from the output of the first generator 9, and the control input receives a signal from the output of the control panel 12. The signal from the control panel allows us to distinguish the “operation” mode from the “caliber” "and change the algorithm of the first synchronous filter 20. Information about the values of Bx and α, obtained by the first synchronous filter 20, comes to the first information input of the second switch, which, by a signal coming to the control input from the controller 11, connects its first information input from the second output and then with the third input of the calculator 15. The calculator receives information on the values of Bx and α, where it is stored until the final calculations. Next, the first switch 8 according to the signal of the controller 11 connects the first generator 9 to the second current amplifier 6 and then to the radiator frame y 3, and the second generator 19 through the current amplifier 7 to the radiator frame z 4. Thus, a rotating magnetic field is formed, allowing to measure the value By and angle β, as was shown at the stage of the description of the method. In this position, the signal Uy is detected, which is fixed by the receiver frame at 17. Acting on the induction meter 21 and then on the information input of the second synchronous filter 22, this signal allows estimating not only the magnitude of the induction amplitude By, but also the phase shift β, for which the sync input the second synchronous filter 22 receives a signal from the output of the first generator 9, and the control input receives a signal from the output of the control panel 12. The signal from the control panel allows to distinguish the “operation” mode from the “calibration” and change the operation algorithm o synchronous filter 20 compared to the “calibration” mode. Information about the values of By and β, obtained by the second synchronous filter 22, comes to the second information input of the second switch 13, which, by a signal coming to its control input from the controller 11, connects its second information input to the second output and then to the third input of the calculator 15 The calculator receives information on the By and β values, where it is stored until the final calculations. At the third stage of the “work” mode, measurements of Bz values and angle γ are carried out. In this case, the measurement sequence does not change, with the only difference that the first generator 9 is connected to the radiator, connected via the third current amplifier 7 to the radiator z 4 and second generator 10, which is connected to the radiator x 2 through the first current amplifier 5. These connections are made by the first switch 8 under the control of the controller 11. Magnetic induction is measured at the receiver installation point by the frame z 18, while the voltage Uz is analyzed after termination by the induction meter Bz 23 they synchronous filter 24, which on their timing signals and control input configured to measure Bz and angle γ. After measuring these parameters, they appear on the third input of the second switch 13, through the second output of the second switch 13 are transmitted to the third input of the transmitter 15, in which they are fixed. The device is ready for calculation. The calculation of the coordinates of the location of the receiver is carried out by the calculator 15 according to the system of equations (4) and formula (5).

By setting the receiver to an object whose location you want to determine, you can find out the x, y, and z coordinates of the object.

The exclusion from the algorithm for calculating the coordinates of a mathematical model of a magnetic field makes it possible to exclude from the algorithm of determination a complex mathematical model of a magnetic field that depends on many external factors and only get by with geometric and electromagnetic measurements, which increases the measurement accuracy and reduces the time for testing.

Thus, the proposed embodiment of the method and device allows to improve the measurement performance in speed and accuracy.

Claims (2)

1. The method of determining the location of the object, which consists in the fact that the measurement of the coordinates of its location is carried out by creating a magnetic field emitter, registering it with a receiver with further calculation of the coordinates of the location of the receiver, characterized in that the emitter is made using three frames, with three emitter frames x, y and z are arranged in mutually perpendicular planes, the receiver is made using three frames x, y and z located in mutually perpendicular planes before measuring n Calibration is required to determine the constants used in calculating the coordinates of the receiver, for which the receiver is located at a point with coordinates (x, 0, 0), create a magnetic field by connecting a sinusoidal signal generator to the radiator frame x, measure the magnetic induction with the receiver frame x, this parameter is used to calculate the constant Kx and memorize it, move the receiver to a point with coordinates (0, y, 0), create a magnetic field by connecting a sine wave generator to the radiator frame y, measure the magnetic induction by the frame pr In this case, the constant Q is calculated by this parameter and stored in it, the receiver is located at a point with coordinates (0, 0, z), a magnetic field is created by connecting a sinusoidal signal generator to the radiator frame z, the magnetic induction is measured by the receiver frame z, by this parameter calculate the constant Kz and memorize it, then to determine the coordinates of the selected point set the receiver in it, the emitter form a rotating magnetic field, connecting two generators of sinusoidal signals, shifted relative to each other by 90 O To two of the three radiator frames x and y, the receiver’s x frame measures the magnetic induction at the selected point, determines the phase angle α of the sinusoid magnetic induction at the measurement point relative to the generated emitter and the maximum value of magnetic induction Bx, remembers the angle α and maximum the values of the magnetic induction Bx, the emitter forms a rotating magnetic field, connecting two generators of sinusoidal signals, which are shifted relative to each other by 90 electrical degrees, to two and three emitter frames y and z, the receiver y frame measure the magnetic induction at the selected point, determine the phase shift angle β of the sinusoid magnetic induction at the measurement point relative to the generated emitter and the maximum magnetic induction By, remember the values of angle β and the maximum magnetic induction By, emitter form a rotating magnetic field, connecting two generators of sinusoidal signals, shifted relative to each other by 90 electrical degrees, to two of the three frames of the radiator z and x, frame The receiver z measures the magnetic induction at the selected point, determines the phase angle γ of the sinusoid magnetic induction at the measurement point relative to the generated emitter and the maximum magnetic induction Bz, memorizes the angle γ and the maximum magnetic induction Bz, and then calculates the current position coordinates of the receiver, using the stored data on the constants Kx, Ku, Kz, angles α, β, γ and the values of the maximum values of magnetic induction Bx, By and Bz. 2. The device for determining the location of the object containing the emitter and receiver, the first generator, controller, its third output connected to the second input of the transmitter, designed to calculate the current coordinates of the location of the receiver, characterized in that the first current amplifier, second current amplifier, third amplifier are entered into the device current, first switch, second generator, control panel, second switch, constant calculator, Ix induction meter, By induction meter, Bz induction meter, first synchronous filter, second synchronous filter, third synchronous filter, while the radiator is designed as a radiator frame x, radiator frame y and radiator frame z oriented relative to each other in mutually perpendicular planes, the receiver is designed as a receiver frame x, receiver frame y and a frame receiver z, oriented relative to each other in mutually perpendicular planes, radiator frame x is connected to the output of the first current amplifier, radiator frame y is connected to the output of the second current amplifier, radar frame z is connected to the output of the third current amplifier, the input of the first current amplifier is connected to the first output of the first switch, the input of the second current amplifier is connected to the second output of the first switch, the input of the third current amplifier is connected to the third output of the first switch, the output is connected to the first information input of the first switch the first generator, and the second information input of the first switch is connected to the output of the second generator, the controller is its first output connected to the control input of the first switch torus, the control panel is connected to the controller input, the second controller output is connected to the control input of the second switch, the first output of the second switch is connected to the first input of the calculator through the calculator of the constant, the third input of the calculator is connected to the second output of the second switch, the receiver x frame is connected through the induction meter Vx to the information input of the first synchronous filter, the output of which is connected to the first information input of the second switch, the receiver frame y through the induction meter By under is connected to the information input of the second synchronous filter, the output of which is connected to the second information input of the second switch; receiver frame z is connected via the induction meter Bz to the information input of the third synchronous filter whose output is connected to the third information input of the second switch; the output of the first generator is connected to the synchronization inputs of the first synchronous filter, the second synchronous filter and the third synchronous filter, the output of the control panel is connected to the control moves the first synchronous filter, second filter and third synchronous synchronous filter, wherein the first and second generators generate at its outputs sinusoidal signals are shifted relative to each other by 90 electrical degrees.

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