Study On Three-dimensional Positioning Technology Based On The Magnetic Dipole Model

Based on the magnetic dipole model is a kind of positioning technique which has high precision,multidimensional and non-visual problem.it also known as electromagnetic positioning technology.It not only can locate the spatial location information(x,y,z)of the target,but also it can locates the position Angle(?,?,?)of the target point.Therefore,this technique is widely used in medical operation navigation,in mobile device navigation,in robot,in virtual implementation and other engineering fields.Based on a large number of literature at home and abroad,electromagnetic positioning technology have related mature products abroad.on the contrary,it stay at theoretical research and experimental exploration stage in our country.The work of this article is mainly divided into four aspects:(1)First of all,In this paper,the electromagnetic dipole theory is used to establish the electromagnetic positioning model,and then the relationship of the six unknown parameter between the induced electromotive force of the receiving sensor and the position and attitude of the positioning target is established according to Faraday's law of electromagnetic induction.Because the target which is based on the magnetic dipole model is far away from the source,the model can be established,so in this paper,the target distance to the source of the positioning of the positioning error has made the analysis.(2)Secondly,in order to transform the engineering application of electromagnetic positioning technology into a mathematical problem.This paper studies the algorithms for solving the nonlinear equations of electromagnetic positioning,including the gauss-newton method,l-m algorithm,and genetic algorithm.The above algorithm is simulated by MATLAB.(3)Thirdly,the author design an electromagnetic positioning system and complete the design of hardware circuits and software programs in the system.The system is divided into three parts,namely launch system,receiving system and data processing system.The main function of the launch system is to establish the magnetic field distribution environment required by the positioning system.The main function of the receiving system is to convert the electromagnetic signal from the target point to The main functions of the data processing system is the use of acquisition card to collect received signal and reference signaa useful voltage signal.l,and use the NI company LabVIEW software platform for acquisition of signal processing such as digital filtering.(4)Finally,the experimental platform was set up and tested.This includes the collection and display of the voltage waveform of the target point and the waveform before and after the signal digital filtering.Values are compared with those of the real value of the test,when the emission signal frequency of 1 Khz,target distance within12 cm to 70 cm,the position error of the mean in 3.5 cm,attitude Angle error of the mean within 10 degrees,and made a detailed description on the sources of error.