A DC Magnetostatic Positioning Model And Its Experimental Verification Based On Magnetic Dipole

Magnetic positioning technology has the advantages of high precision,fast,no line of sight obscured,multi-dimension,simple operation and no radiation damage to the human body,etc.Both the position information and the posture information of the object can be obtained by using the magnetic positioning technology.Therefore,it is widely used in indoor robots,interventional surgical navigation,small-scale moving target tracking,and other fields that require high positioning speed and accuracy.There are two commonly used magnetic positioning technologies,magnetostatic positioning and electromagnetic positioning,both of which obtain the six-dimensional pose information of the positioning target by calculating the magnetic field intensity.Traditional electromagnetic positioning systems based on magnetic dipoles usually employ a system model,in which three-axis orthogonal coils at the transmitter are time-shared excitation and the three-axis orthogonal coils at the receiver simultaneously receive.The receiver needs to receive 9 data values,and the system operation efficiency is reduced because of the time-sharing transmission of the transmitter.While the traditional permanent magnet magnetostatic positioning system is limited by the permanent magnet magnetic field intensity distribution and the complexity of positioning and settlement,and its application field is small.Herein,we firstly analyze the magnetic positioning model and positioning algorithm by studying the theory of magnetic dipoles.And a DC static magnetic field positioning analytical algorithm based on magnetic dipoles is proposed through converting the excitation signal at the transmitter end in the electromagnetic positioning model from AC to DC,which avoids the traditional permanent magnet static magnetic field positioning to solve nonlinear high-order equations,and reduces the computational complexity.On this basis,a magnetostatic positioning model is designed,that uses a three-axis orthogonal coil as the transmitting end to be excited by the DC signal at the same time,and a three-axis orthogonal magnetostatic sensor as the receiving end to receive at the same time.Compared with the traditional electromagnetic positioning system,the receiving end data is reduced to 3,which simplifies the system.And the transmitting end is stimulated at the same time to improve the positioning efficiency of the system.In addition,the planar electromagnetic positioning model and the proposed magnetostatic positioning model and algorithm are analyzed by using simulation method.And we discuss the influence of noise signals on the positioning accuracy of the two models,and perform experiments to verify the magnetostatic positioning model and algorithm,and analyze the positioning error and the error correction ideas in detail.The research results indicate that the proposed magnetostatic positioning model can accurately locate targets within a certain range,and can be used in scientific research and engineering practice,which is expected to be promoted in engineering applications and realize real-time motion tracking.