CN104776865B - The electromagnetic tracking system and method quickly determined based on maximum magnetic induction Vector Rotation angle - Google Patents
The electromagnetic tracking system and method quickly determined based on maximum magnetic induction Vector Rotation angle Download PDFInfo
- Publication number
- CN104776865B CN104776865B CN201510123915.6A CN201510123915A CN104776865B CN 104776865 B CN104776865 B CN 104776865B CN 201510123915 A CN201510123915 A CN 201510123915A CN 104776865 B CN104776865 B CN 104776865B
- Authority
- CN
- China
- Prior art keywords
- magnetic field
- axles
- sensor
- coordinate system
- magnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
It is specially a kind of based on the quick electromagnetic tracking system for determining in maximum magnetic induction Vector Rotation angle and method the invention belongs to electromagnetic field.Present system is made up of triaxial magnetic field sensor device, magnetic field source device, controllable constant-current source device and control process display device；Three be wrapped on the magnetic core made by soft magnetic ferrite, central point coincidences are encouraged respectively with controllable constant-current source device and mutually orthogonal coil constitutes magnetic field source device, the magnetic induction intensity that triaxial magnetic field sensor device detection magnetic field sources device is produced, controllable excitation of the constant-current source device to coil of control process display device control, and location Calculation is carried out according to the magnetic induction intensity that triaxial magnetic field sensor device is detected.The present invention only needs to once can just realize positioning to the excitation of three axial coils respectively, it is to avoid search procedure, significantly improves the real-time of system, and stability is high, and computation complexity is low, can be applied to the navigation of Minimally Invasive Surgery, also can operate with virtual（Enhancing）The fields such as reality, 3-D supersonic imaging.
Description
Technical field
The invention belongs to electromagnetic field, and in particular to one kind is quickly determined by single activation magnetic field source coil
Maximum magnetic induction Vector Rotation angle, and then the electromagnetic tracking system to being positioned as the magnetic field sensor for tracking target
And method.
Background technology
Electromagnetism tracking is the magnetic coupling relation between a kind of utilization magnetic field sources and magnetic field sensor, obtains tracking target empty
Between position method, Minimally Invasive Surgery navigation in be with a wide range of applications, the study hotspot as target tracking domain.Phase
Compared with other tracking modes, electromagnetism tracking have not damaged, radiationless, unobstructed problem, easy to operate, accurate positioning, etc. it is excellent
Point；But there are problems that dependency theory magnetic field model, iterative algorithm are complicated, easily simultaneously.For traditional magnetic tracking method
The problem of presence, this seminar proposes a kind of electromagnetic tracking method based on the detection of maximum magnetic induction Vector Rotation angle
（Patent of invention number：ZL 2010 1 0179332.2）, the method do not rely on magnetic field theory model, using non-iterative geometry
Algorithm realizes positioning.Compared with traditional magnetic tracking method, the succinct effective, fast operation of algorithm of the method.
This electromagnetic tracking method can be realized by searching for maximum magnetic induction.During search, according to logical
The magnetic induction intensity maximum that electrical solenoid is produced principle in the axial direction, diverse location is in by step motor control
Two solenoid rotations, when two energization solenoid axis orientation sensors, sensor can respectively detect maximum magnetic strength
Intensity is answered, then according to the distance between two solenoids（It is known）And solenoid is by the rotation of initial position to orientation sensor
Angle, the locus of sensor can be calculated by method of geometry.
It is this by search for maximum magnetic induction realize electromagnetic tracking method can realize it is high-precision positioning and with
Track.But its locating speed is driven solenoid rotary speed to be limited by stepper motor, and the real-time of system is poor；And search for
Process can only be carried out in the limited Plane of rotation of stepper motor, and search flexibility is poor.
The content of the invention
It is an object of the invention to propose a kind of real-time performance of tracking is high, flexibility is strong electromagnetic tracking method and system.
Electromagnetic tracking method proposed by the present invention is a kind of by quick measure maximum magnetic induction Vector Rotation angle reality
Existing electromagnetic tracking method.The present invention devise it is a kind of by three be wrapped on magnetic ferrite magnetic core, central point overlap and
The magnetic field source model of mutually orthogonal coil composition, is its axis direction, three according to unicoil magnetic induction intensity maximum direction
Axle synthesis total magnetic induction intensity maximum by single shaft maximum synthesize and coil energizing current intensity and coil produced by
There is the characteristic of linear relationship between magnetic induction intensity, using same intensity current excitation coil produced by magnetic induction intensity
It is multiplied by different current coefficients to replace the magnetic induction intensity produced by the coil of varying strength current excitation, rapid solving is maximum
The magnetic flux density vector anglec of rotation, that is, the total magnetic induction intensity for synthesizing points to anglec of rotation during magnetic field sensor, so as to tracking
Target（Magnetic field sensor）Positioned.
One of features of the present invention is that the magnetic field model for not relying on certain hypothesis sets up magnetic field sources and magnetic field sensor
Between coupled relation, it is to avoid and the position error that produces inconsistent with preferable magnetic field sources due to magnetic field sources actual distributions；This
The two of the characteristics of invention are that, using non-iterative geometric algorithm, computation complexity is low, can not only increase substantially locating speed,
Also avoid iterative algorithm, to be likely to be converging on the problems such as locally optimal solution or diverging system for causing unstable.The features of the present invention
Three be coil by single activation each magnetic field sources respectively, the magnetic induction intensity according to measured by magnetic field sensor can
With the anglec of rotation of rapid solving maximum magnetic induction vector, real-time and the flexibility of tracking system are effectively improved.
For convenience of description, three coordinate systems are first defined as follows：
Coordinate system 1：It is the coordinate system of magnetic field sources 1.Constitute the axis point of the coil I, coil II and coil III of magnetic field sources 1
Not along the X1 axles of the coordinate system, Y1 axles and Z1 axles.The central point of magnetic field sources 1 is coordinate origin O, and coordinate is.Should
Coordinate system is also system coordinate system XYZ.
Coordinate system 2：It is the coordinate system of magnetic field sources 2.Constitute the axis point of the coil I, coil II and coil III of magnetic field sources 2
Not along the X2 axles of the coordinate system, Y2 axles and Z2 axles.The central point of magnetic field sources 2 is coordinate origin O ', in system coordinate system
Coordinate be.Each reference axis of the coordinate system is parallel to each other with the corresponding axis in system coordinate system, X2 axles and X-axis
In the opposite direction, Y2 axles, Z2 axles are identical with Y-axis, Z-direction.
Coordinate system 3：It is the coordinate system of triaxial magnetic field sensor.The X3 axles of the coordinate system, Y3 axles and Z3 direction of principal axis respectively with
Triaxial magnetic field sensor accordingly detects that direction of principal axis is consistent, and origin overlaps with the central point of triaxial magnetic field sensor.
The anglec of rotation of the maximum magnetic induction vector that magnetic field sources are produced is defined as follows：
Feathering angle：Refer to from coordinate system 1（Or coordinate system 2）Origin to the company between triaxial magnetic field sensor central point
Line is in X1Y1 planes（Or X2Y2 planes）Projection and X1 axles（Or X2 axles）Between angle（Or）.
Vertical rotary angle：Refer to from coordinate system 1（Or coordinate system 2）Origin to the company between triaxial magnetic field sensor central point
Line is with the line in X1Y1 planes（Or X2Y2 planes）Projection between angle（Or）.
Electromagnetic tracking system proposed by the present invention, is made up of four parts：One triaxial magnetic field sensor device, by two group three
Magnetic field source device, controllable constant-current source device, a control process display device of axle quadrature coil composition；System architecture is such as
Shown in Fig. 2.Wherein：
The triaxial magnetic field sensor device is attached to tracking target, for three at measurement tracking target position just
Hand over the magnetic field in direction；Triaxial magnetic field sensor device include a three axle component magnetic field sensors and signal condition/simulation-
Numeral（AD）Modular converter；Three axle component sensors are respectively intended to detect the magnetic of orthogonal direction X3, Y3 and Z3 of position three
Induction, its output is through follow-up signal conditioning/analog to digital（AD）Modular converter sends into control process display device.Sensing
The selection gist measurement range of device device and the requirement of precision, can use magnetoresistive transducer, hall effect sensor or magnetic flux
Door sensor etc..
The magnetic field source device includes two relative positions and magnetic field sources known to attitude（That is magnetic field sources 1 and magnetic field sources 2）,
Its Nomenclature Composition and Structure of Complexes is identical, and three central points by being wrapped on soft magnetic ferrite magnetic core overlap and mutually orthogonal respectively
Coil composition.So, with the equidistant sphere of magnetic field sources central point on, the magnetic induction intensity maximum of single shaft coil was for should
The axial location of coil, in the axial direction, total magnetic induction intensity maximum of three axial coils synthesis is closed by single shaft maximum in direction
Into.The distance between two magnetic field source device central points are, and three groups correspondence coils be parallel to each other.Coil needs to ensure fine
Orthogonality and symmetry, the cross sectional shape of its coil can be using square or circular etc..Phase is passed to three coils respectively
With the direct current of intensity, respectively single shaft magnetic induction intensity maximum, and three axles can be produced to close in the axis direction of each coil
Synthesized by three single shaft maximums into magnetic induction intensity maximum；Because the magnetic induction of coil energizing current intensity and its generation is strong
There is linear relationship between degree, can be multiplied by using the magnetic induction intensity produced by the coil of same intensity current excitation different
Current coefficient replaces the magnetic induction intensity produced by the coil of varying strength current excitation.Therefore, it can obtain on magnetic field
Total magnetic induction intensity and the expression formula of current coefficient that sensor is detected, according to the monotonicity of this expression formula, can solve
Current coefficient during total magnetic induction intensity maximum.Using this current coefficient, one group of maximum magnetic induction can be equally calculated strong
Spend the anglec of rotation of vector（Now synthesis maximum magnetic induction vector points to magnetic field sensor）Information, using two magnetic field sources
Two groups of rotary angle informations and two relative positions of magnetic field sources, can calculate the position of sensor by method of geometry, so that
Realize positioning and track.
The constant-current source device is made up of constant-current source and relevant control circuit, for the coil for constituting magnetic field sources provides excitation electricity
Stream, i.e. constant-current source output DC current, control process display device is by controlling circuit so that the electric current that constant-current source is exported replaces
Each coil of excitation field source device.
The control process display device is made up of control unit, algorithm unit, display output unit.Control unit includes
Two parts：Sampling processing module and exciting current control module.Sampling processing module is used for sampling processing and comes from three-axle magnetic field
The signal of sensor device；Each line of exciting current control module control controllable constant-current source device alternative excitation magnetic field source device
Circle.On the one hand algorithm unit calculates what current triaxial magnetic field sensor device was detected according to the output data of sampling processing module
Magnetic induction intensity value, and then maximum magnetic flux is calculated according to the quick estimation algorithm in maximum magnetic induction Vector Rotation angle hereinafter described
The corresponding one group of anglec of rotation of induction vector；On the other hand, two magnetic field sources in magnetic field source device is calculated are most
During the corresponding anglec of rotation of big magnetic flux density vector, according to the locus of position algorithm calculating magnetic field sensor hereinafter described
Coordinate.The location information of magnetic field sensor is shown/exported by display output unit.Wherein, control unit, algorithm unit are by micro-
Processor realizes that display output unit is realized by display.
Electromagnetic tracking method based on said system proposed by the present invention, its step is（With the maximum magnetic induction of magnetic field sources 1
As a example by the strength vector anglec of rotation is quickly determined）：
（1）Controllable constant-current source device is controlled to three axis of magnetic field sources 1 in the source device of magnetic field by control process display device
Circle carries out the continuous current excitation of same current density respectively；
（2）By the magnetic induction intensity value on three orthogonal directions of its position of triaxial magnetic field sensor measurement device,
Deliver to control process display device；
（3）Control process display device quickly determines calculation according to maximum magnetic induction Vector Rotation angle hereinafter described
Method, the corresponding one group of anglec of rotation of maximum magnetic induction vector in calculating magnetic field source 1.In the source device of magnetic field, magnetic field sources 2 by with
The similar step of magnetic field sources 1, the corresponding one group of anglec of rotation of maximum magnetic induction vector in calculating magnetic field source 2.According to being obtained
Two groups of rotary angle informations, the distance between central point of magnetic field sources 1 and 2 in combined magnetic field source device, calculate and try to achieve magnetic field biography
The locus of sensor arrangement.
The quick estimation algorithm in maximum magnetic induction Vector Rotation angle proposed by the present invention, only needs respectively to composition magnetic field sources
Each coil stimulating of device once can just calculate two groups of anglecs of rotationWith, i.e. magnetic field sources 1 and magnetic field sources
The 2 corresponding feathering angle of maximum magnetic induction vector and vertical rotary angle.
Maximum magnetic induction Vector Rotation angle is specifically introduced by taking magnetic field sources 1 as an example belowCalculating（Such as Fig. 5 institutes
Show）, the coordinate system of magnetic field sources 1 is coordinate system 1, axis sides of its coil I, II and III respectively along X1 axles, Y1 axles and Z1 axles
To.Assuming that sensorCoordinate be, it is respectively in the projection of X1OY1, Y1OZ1 and Z1OX1 plane、With,、WithThe angle with X1 axles, Y1 axles and Z1 axles is respectively、With, wherein,That is the maximum magnetic strength of magnetic field sources 1
Answer the feathering angle of strength vector。,WithRepresent when coil I, II and III are respectively with electric currentDuring excitation, three axle magnetic
The magnetic induction intensity that field sensor is measured.Can be expressed as：
（1）
If coil energizing current isWhen the magnetic induction intensity that produces be, then when excitation coil I and the electric current of coil II
RespectivelyWith, i.e. current coefficient is respectivelyWith, the magnetic induction intensity of generation is then respectivelyWith。It is the angle of the resultant vector with X1 axles of the magnetic induction intensity that coil I and coil II is produced, change
Scope is.When the magnetic induction intensity resultant vector measured by sensor reaches maximum, the magnetic induction intensity resultant vector
By projection of the orientation sensor in X1OY1 planes.Now,It is the folder of projection of the sensor in X1OY1 planes and X1 axles
Angle, while being also the feathering angle of the maximum magnetic induction vector of magnetic field sources 1。
The magnetic induction intensity resultant vector of the coil I and coil II of sensor detection can be expressed as：
（2）
Wherein,。
The mould of total magnetic induction intensity can be written as：
（3）
I.e.
（4）
Wherein,。
Assuming that,, wherein,, it is full
Foot.Then
（5）
WhenWhen,Maximum is reached, can be expressed as：
（6）
Can obtain
（7）
That is the feathering angle of the maximum magnetic induction vector of magnetic field sources 1, that is, sensor is in X1OY1 planes
Projection and the angle of X1 axles。
When coil III is energized, combined with coil II or coil I, sensor can be calculated with same method and existed
The angle of projection and Y1 axles in Y1OZ1 planesThe angle of projection and Z1 axles with sensor in Z1OX1 planes。
Due to、WithCan be expressed as：
（8）
The vertical rotary angle of the maximum magnetic induction vector of magnetic field sources 1Can be expressed as：
（9）
I.e.
（10）
To improve the accuracy for calculating, the feathering angle of the maximum magnetic induction vector of magnetic field sources 1And vertical rotary
AngleCan be written as：
（11）
（12）
I.e.
（13）
（14）
The anglec of rotation of the maximum magnetic induction vector of magnetic field sources 1 can be calculated according to above-mentioned algorithm。
The anglec of rotation of the maximum magnetic induction vector of magnetic field sources 2Can be in its coordinate system 2（As shown in Figure 6）,
Calculated according to the method same with magnetic field sources 1,Formula it is as follows：
（15）
（16）
According to Fig. 6,、WithIt is defined as follows：It is projection of the sensor in X2O ' Y2 planes and X2 axles
Angle,It is the angle of projection of the sensor in Y2O ' Z2 planes and Y2 axles,It is sensor in Z2O ' X2 planes
Projection and the angle of Z2 axles.
According to the relative position between magnetic field sources 1 and magnetic field sources 2 and two groups of anglecs of rotationWith, by geometry
Algorithm can obtain the locus of triaxial magnetic field sensor.
Position algorithm referenced patents ZL 2,010 1 0179332.2 of the invention, is filled using above-mentioned magnetic field sources are encouraged respectively
The magnetic induction intensity obtained by each coil put, can calculating magnetic field source 1 it is corresponding with the maximum magnetic induction vector of magnetic field sources 2
The anglec of rotation：With, according to the distance between rotary angle information and two magnetic field sources central points, by formula（17）~
（19）Calculate position coordinates of the sensor in system coordinate systemIt is as follows：
（17）
（18）
（19）
Because this method is a kind of magnetic induction intensity according under identical three axles exciting current, theory deduction arbitrary excitation electricity
The magnetic induction intensity for flowing down, so as to quickly determine the electromagnetic tracking method at maximum magnetic induction Vector Rotation angle, it is only necessary to point
It is other that positioning once can just be realized to the excitation of three axial coils, it is to avoid search procedure, significantly improve the real-time of system.The present invention
The magnetic field model or iterative algorithm of certain hypothesis are not relied on, quick effective, stability is high, and computation complexity is low, can be applied to
The navigation of Minimally Invasive Surgery, also can operate with virtual（Enhancing）The fields such as reality, 3-D supersonic imaging.
Brief description of the drawings
Fig. 1 is the view according to the device part of embodiments of the invention.
Fig. 2 is the details block diagram of the device in Fig. 1.
Fig. 3 is the magnetic field source device three-view diagram of embodiments of the invention.
Fig. 4 is the working-flow block diagram of embodiments of the invention.
Fig. 5 illustrates for the quick estimation algorithm in the maximum magnetic induction Vector Rotation angle of magnetic field sources 1 of embodiments of the invention
Figure.
Fig. 6 illustrates for the quick estimation algorithm in the maximum magnetic induction Vector Rotation angle of magnetic field sources 2 of embodiments of the invention
Figure.
Fig. 7 is the object under test position algorithm schematic diagram of embodiments of the invention.
Label in figure：1 is electromagnetic tracking system, and 2 is triaxial magnetic field sensor device, and 3 is magnetic field source device, and 4 is control
Treatment display device, 5 is controllable constant-current source device.6th, 7,8 three axle component sensors of triaxial magnetic field sensor device are respectively,
9 is signal condition and analog-to-digital conversion module；10th, 11 two magnetic field source device magnetic field sources 1 and magnetic field sources 2,12,13,14 are respectively
Respectively three axial coils of magnetic field source device 10,15,16,17 are respectively three axial coils of magnetic field source device 11；18 is single for control
Unit, 19 is algorithm unit, and 20 is display output unit, and 21 is sampling processing module, and 22 is exciting current control module；23 is perseverance
Stream source, 24 is control circuit；25 is magnetic induction intensity data, and 26 is maximum magnetic induction Vector Rotation angular data；27 is first
Beginningization procedure module, 28 is measurement process module, and 29 is calculating process module, and 30 count for maximum magnetic induction Vector Rotation angle
Procedure module is calculated, 31 is position location computation module, and 32 is display output procedure module.
Specific embodiment
With reference to specific embodiment and referring to the drawings, system composition and the course of work are illustrated.This specific implementation
Coordinate system definition involved by example with table 1, as shown in Figure 7；Involved feathering angle and the definition of vertical rotary angle are with invention
Content.
This specific embodiment devises the electromagnetic tracking system 1 shown in Fig. 1, including four parts：Triaxial magnetic field sensor
Device 2, magnetic field source device 3, control process display device 4, controllable constant-current source device 5.Triaxial magnetic field sensor device 2 is attached to
In tracking target.Magnetic field source device 3 includes two magnetic field sources 10 and 11（Correspondence invention and claims magnetic field described in book
Source 1 and magnetic field sources 2）, being wrapped on the magnetic core made by soft magnetic ferrite by three respectively, central point overlaps and mutually
Orthogonal coil composition；The distance between two magnetic field sources central points are, and corresponding coil is parallel to each other.Control process show
Each coil that the control controllable constant-current of showing device 4 source device 5 is respectively magnetic field source device 3 provides the exciting current of same intensity.
In addition, control process display device 4 also gathers the output of triaxial magnetic field sensor device 2, difference calculating magnetic field source 10 and 11
The locus of the corresponding anglec of rotation of maximum magnetic induction vector and triaxial magnetic field sensor device 2, and export or show
Positioning result.
It is illustrated in figure 2 the exploded block diagram of system components.
Triaxial magnetic field sensor device 2 includes three axle component sensors 6,7,8, is respectively intended to detect three orthogonal directions
The magnetic induction intensity of X3, Y3 and Z3.Magnetic field sensor in the present embodiment selects three axle magnetoresistive transducers.The output warp of sensor
Follow-up signal condition and analog to digital（AD）The feeding control process of modular converter 9 display device 4.
Magnetic field source device 3 is made up of magnetic field source device 10 and 11, and it is circle that magnetic field source device 10 is wrapped in section by three
Central point on bar magnet is overlapped and mutually orthogonal coil 12,13 and 14 is constituted；Magnetic field source device 11 is wrapped in section by three
For the central point on circular bar magnet overlaps and the mutually orthogonal composition of coil 15,16 and 17.In system, the bar magnet of magnetic field sources is constituted
A length of 10cm, circular cross section diameter is 1cm, and each coil turn is 800 circles, and three axle exciting currents are 1A.Magnetic field sources are filled
The core structure for putting 10 and 11 is just the same, and its three-view diagram is as shown in Figure 3.
Control process display device 4 is made up of DSP and PC, including control unit 18, algorithm unit 19, display output list
First 20 3 parts.Control unit 18 includes sampling processing module 21 and exciting current control module 22.Control process display dress
4 realizations are put to the control of other assemblies, the collection of data and treatment, the display output of tracking result etc..
Controllable constant-current source device 5 is made up of constant-current source 23 and control circuit 24.Control circuit 24 is shown by control process and filled
The exciting current control module 22 for putting 4 is controlled so that the DC current of the output of constant-current source 23 is each line in magnetic field source device 3
Circle provides exciting current, realizes to constituting two friendships of two groups of coils of magnetic field source device 10 and 11 12,13,14 and 15,16,17
For excitation.
Fig. 4 show the workflow block diagram of system.System is initialized first after start.The course of work afterwards can
It is divided into measurement process 28 and calculating process 29.Wherein measurement process is the control controllable constant-current of control process display device 4 source device 5
Each coil to magnetic field source device 3 provides identical exciting current respectively, and triaxial magnetic field sensor device 2 measures magnetic field respectively
The magnetic induction intensity that each coil of source device 3 is produced when being energized, then system is to enter calculating process 29.Calculating process 29
Including maximum magnetic induction Vector Rotation angle calculating process 30 and position location computation 31, the two carries out, calculates respectively successively
The maximum magnetic induction Vector Rotation angle of magnetic field source device 10 and 11 and the position of magnetic field sensor, wherein position computational algorithm
It is to rely on the result of calculation at maximum magnetic induction Vector Rotation angle.When calculating completion every time, display output process 32 is performed,
Real-time update tracking result.
Fig. 5 show the schematic diagram of the quick estimation algorithm in maximum magnetic induction Vector Rotation angle of magnetic field sources 1.Using magnetic field
Magnetic induction intensity when the coil I and coil II in source 1 are energized, by formula（1）~（7）Magnetic induction intensity can be calculated and close arrow
Amount is when reaching maximum, i.e. the magnetic induction intensity resultant vector by orientation sensor during projection in X1OY1 planes, the magnetic induction
The resultant vector of intensity and the angle of X1 axles, i.e. projection and the angle of X1 axle of the sensor in X1OY1 planes, while
It is the feathering angle of the maximum magnetic induction vector of magnetic field sources 1.It is utilized respectively coil II and coil III, coil I and coil
Magnetic induction intensity when III is energized, can calculate projection of the sensor in Y1OZ1 planes and Y1 axles with same method
AngleThe angle of projection and Z1 axles with sensor in Z1OX1 planes.According to、WithLocus close
System, by formula（8）~（10）The vertical rotary angle of the maximum magnetic induction vector of magnetic field sources 1 can be calculated.Calculated to improve
Accuracy, the anglec of rotation of the maximum magnetic induction vector of magnetic field sources 1Can be by formula（11）~（14）Calculate.
Fig. 6 show the schematic diagram of the quick estimation algorithm in maximum magnetic induction Vector Rotation angle of magnetic field sources 2.Magnetic field sources 2
The anglec of rotation of maximum magnetic induction vectorCan in its coordinate system 2, according to formula（1）~（7）Identical is walked
Suddenly, calculating、WithOn the basis of, by formula（15）~（16）Calculated.
Fig. 7 show the schematic diagram of position algorithm.Can by the quick estimation algorithm in maximum magnetic induction Vector Rotation angle
Obtain two groups of anglecs of rotationWithThe distance between, two magnetic field sources central points, it is known that then can be by formula（17）~
（19）Calculate position coordinates of the sensor in system coordinate system。
More than, only presently preferred embodiments of the present invention, but protection scope of the present invention is not limited thereto.It is any to be familiar with sheet
Those skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in should all be covered
Within the protection domain of invention.Therefore, protection scope of the present invention should be with the defined protection model of claims requirement
Enclose and be defined.
Claims (3)
1. it is a kind of based on the quick electromagnetic tracking system for determining in maximum magnetic induction Vector Rotation angle, it is characterised in that by as follows
Four parts are constituted：One triaxial magnetic field sensor device, the magnetic field source device being made up of two group of three axle quadrature coil, one it is controllable
Constant-current source device, a control process display device；Wherein：
The triaxial magnetic field sensor device is attached to tracking target, for measuring three orthogonal sides at tracking target position
To magnetic field；Triaxial magnetic field sensor device includes a three axle component magnetic field sensors and a signal condition/analog to digital
Modular converter；Three axle component sensors are respectively intended to detect the magnetic induction intensity of orthogonal direction of position three that its output is passed through
Follow-up signal conditioning/analog-digital conversion module sends into control process display device；
The magnetic field source device includes two relative positions and magnetic field sources known to attitude, i.e. magnetic field sources 1 and magnetic field sources 2, its group
Into identical with structure, respectively by the three central points coincidence being wrapped on soft magnetic ferrite magnetic core and mutually orthogonal line
Circle composition；So, with the equidistant sphere of magnetic field sources central point on, the magnetic induction intensity maximum of single shaft coil is the coil
Axial location, direction in the axial direction, three axial coils synthesis total magnetic induction intensity maximum synthesized by single shaft maximum；Two
The distance between individual magnetic field source device central point is, and three groups correspondence coils be parallel to each other；
The constant-current source device is made up of constant-current source and relevant control circuit, for the coil for constituting magnetic field sources provides exciting current,
I.e. constant-current source exports DC current, and control process display device is by controlling circuit so that the electric current alternative excitation of constant-current source output
Each coil of magnetic field source device；
The control process display device is made up of control unit, algorithm unit, display output unit；Control unit includes two
Part：Sampling processing module and exciting current control module, sampling processing module are used for sampling processing and are sensed from three-axle magnetic field
The signal of device device, each coil of exciting current control module control controllable constant-current source device alternative excitation magnetic field source device；Calculate
On the one hand method unit calculates the magnetic strength that current triaxial magnetic field sensor device is detected according to the output data of sampling processing module
Intensity level is answered, and then maximum magnetic induction vector pair is calculated according to the quick estimation algorithm in maximum magnetic induction Vector Rotation angle
The one group of anglec of rotation answered；On the other hand, the maximum magnetic induction arrow of two magnetic field sources in magnetic field source device is calculated
When measuring the corresponding anglec of rotation, according to the locus coordinate of position algorithm calculating magnetic field sensor；Display output unit is by magnetic field
The location information of sensor shows/exports；
It is defined as follows three coordinate systems：
Coordinate system 1：It is the coordinate system of magnetic field sources 1；Constitute the axis edge respectively of the coil I, coil II and coil III of magnetic field sources 1
The X1 axles of the coordinate system, Y1 axles and Z1 axles, the central point of magnetic field sources 1 is coordinate origin O, and coordinate is；The coordinate
System is also system coordinate system XYZ；
Coordinate system 2：It is the coordinate system of magnetic field sources 2；Constitute the axis edge respectively of the coil I, coil II and coil III of magnetic field sources 2
The X2 axles of the coordinate system, Y2 axles and Z2 axles, the central point of magnetic field sources 2 is coordinate origin O ', the seat in system coordinate system
It is designated as；Each reference axis of the coordinate system is parallel to each other with the corresponding axis in system coordinate system, X2 axles and X-direction phase
Instead, Y2 axles, Z2 axles are identical with Y-axis, Z-direction；
Coordinate system 3：It is the coordinate system of triaxial magnetic field sensor；The X3 axles of the coordinate system, Y3 axles and Z3 direction of principal axis respectively with three axles
Magnetic field sensor accordingly detects that direction of principal axis is consistent, and origin overlaps with the central point of triaxial magnetic field sensor；
The anglec of rotation of the maximum magnetic induction vector that magnetic field sources are produced is defined as follows：
Feathering angle：Refer to from the origin of coordinate system 1 to the line triaxial magnetic field sensor central point in X1Y1 planes
Angle between projection and X1 axles；Or refer to that the origin of coordinate system 2 exists to the line between triaxial magnetic field sensor central point
Angle between the projection of X2Y2 planes and X2 axles；
Vertical rotary angle：Refer to and exist from the origin of coordinate system 1 to the line triaxial magnetic field sensor central point with the line
Angle between the projection of X1Y1 planes；Or refer to from the origin of coordinate system 2 to the line triaxial magnetic field sensor central point
With angle of the line between the projection of X2Y2 planes；
In the algorithm unit, maximum magnetic induction is calculated according to the quick estimation algorithm in maximum magnetic induction Vector Rotation angle
The formula of the corresponding one group of anglec of rotation of vector is：
For magnetic field sources 1, maximum magnetic induction Vector Rotation angleFormula it is as follows：
Wherein,It is the angle of projection of the sensor in X1OY1 planes and X1 axles,It is sensor in Y1OZ1 planes
Projection and the angle of Y1 axles,It is the angle of projection of the sensor in Z1OX1 planes and Z1 axles；
To magnetic field sources 2, the anglec of rotation of maximum magnetic induction vectorFormula it is as follows：
Wherein,It is the angle of projection of the sensor in X2O ' Y2 planes and X2 axles,It is sensor in Y2O ' Z2 planes
Projection and the angle of Y2 axles,It is the angle of projection of the sensor in Z2O ' X2 planes and Z2 axles.
2. electromagnetic tracking system according to claim 1, it is characterised in that in the algorithm unit, according to the He of magnetic field sources 1
The corresponding anglec of rotation of maximum magnetic induction vector of magnetic field sources 2：、, and between two magnetic field sources central points
Distance, position coordinates of the sensor in system coordinate systemFormula is as follows：
。
3. the electromagnetic tracking method of the electromagnetic tracking system being based on described in claim 1 or 2, it is characterised in that concretely comprise the following steps：
（1）Controllable constant-current source device is controlled to distinguish three axial coils of magnetic field sources in the source device of magnetic field by control process display device
Carry out the continuous current excitation of same current density；
（2）By the magnetic induction intensity value on three orthogonal directions of its position of triaxial magnetic field sensor measurement device, deliver to
Control process display device；
（3）Control process display device is according to the quick estimation algorithm in maximum magnetic induction Vector Rotation angle, the He of calculating magnetic field source 1
The corresponding two groups of anglecs of rotation of maximum magnetic induction vector of magnetic field sources 2With；According to the two groups of rotations for being obtained
Corner information, the distance between magnetic field sources 1 and the central point of magnetic field sources 2 in combined magnetic field source device, calculate and try to achieve magnetic field sensor
The locus of device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510123915.6A CN104776865B (en) | 2015-03-21 | 2015-03-21 | The electromagnetic tracking system and method quickly determined based on maximum magnetic induction Vector Rotation angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510123915.6A CN104776865B (en) | 2015-03-21 | 2015-03-21 | The electromagnetic tracking system and method quickly determined based on maximum magnetic induction Vector Rotation angle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104776865A CN104776865A (en) | 2015-07-15 |
| CN104776865B true CN104776865B (en) | 2017-07-07 |
Family
ID=53618477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510123915.6A Expired - Fee Related CN104776865B (en) | 2015-03-21 | 2015-03-21 | The electromagnetic tracking system and method quickly determined based on maximum magnetic induction Vector Rotation angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104776865B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106403959A (en) * | 2016-11-22 | 2017-02-15 | 天津海运职业学院 | Electromagnetic positioning system adopting multi-sensor array |
| CN106950523B (en) * | 2017-03-17 | 2020-08-28 | 复旦大学 | Rotating magnetic field implementation device and method based on voltage-controlled constant current source |
| FR3069068B1 (en) * | 2017-07-17 | 2019-08-23 | Sysnav | METHOD FOR LOCATING A EVOLVING OBJECT IN A MAGNETIC FIELD GENERATED BY A SET OF AT LEAST THREE MAGNETIC GENERATORS |
| KR20200109315A (en) | 2018-01-16 | 2020-09-22 | 퍼시픽 라이트 앤드 홀로그램 인크. | 3D displays using electromagnetic field computing |
| CN108662973B (en) * | 2018-04-04 | 2020-07-03 | 复旦大学 | Electromagnetic tracking system and method based on phase discrimination technology |
| CN109099907B (en) * | 2018-07-30 | 2023-06-23 | 广西大学 | Close-range unmanned aerial vehicle accurate positioning method and guiding system based on dynamic magnetic field distribution |
| CN111077581B (en) * | 2019-05-17 | 2021-08-27 | 吉林大学 | Tunnel water inrush three-dimensional nuclear magnetic resonance advanced detection device and imaging method |
| CN111158055B (en) * | 2019-12-31 | 2021-03-05 | 浙江大学 | Three-dimensional magnetic source dynamic detection system and detection method |
| CN113295080B (en) * | 2020-04-09 | 2023-04-21 | 上海信朴臻微电子有限公司 | Displacement sensor, displacement analysis system and analysis method |
| CN112066869B (en) * | 2020-09-16 | 2022-06-21 | 上海信朴臻微电子有限公司 | Angular displacement sensing system and angular displacement analysis method |
| US11360431B2 (en) | 2020-09-17 | 2022-06-14 | Pacific Light & Hologram, Inc. | Reconstructing objects with display zero order light suppression |
| KR20220060105A (en) * | 2020-11-04 | 2022-05-11 | 주식회사 해치텍 | Contactless magnetic sensing system and sensing method thereof |
| CN114200360B (en) * | 2021-11-10 | 2023-08-15 | 北京自动化控制设备研究所 | Three-dimensional coil magnetic field uniformity testing method and system |
| US11900842B1 (en) | 2023-05-12 | 2024-02-13 | Pacific Light & Hologram, Inc. | Irregular devices |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4054881A (en) * | 1976-04-26 | 1977-10-18 | The Austin Company | Remote object position locater |
| US4849692A (en) * | 1986-10-09 | 1989-07-18 | Ascension Technology Corporation | Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields |
| CN102426392A (en) * | 2011-09-13 | 2012-04-25 | 复旦大学 | Electromagnetic tracking method based on quadrature magnetic bar rotation search and system thereof |
| CN103412337A (en) * | 2013-07-16 | 2013-11-27 | 复旦大学 | Dual-independent rotating magnetic bar electromagnetic tracking-based position tracking method and electromagnetic tracking system |
| CN103575271A (en) * | 2013-10-29 | 2014-02-12 | 复旦大学 | Electromagnetic tracking system and method based on electric control rotary magnetic field |
-
2015
- 2015-03-21 CN CN201510123915.6A patent/CN104776865B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4054881A (en) * | 1976-04-26 | 1977-10-18 | The Austin Company | Remote object position locater |
| US4849692A (en) * | 1986-10-09 | 1989-07-18 | Ascension Technology Corporation | Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields |
| CN102426392A (en) * | 2011-09-13 | 2012-04-25 | 复旦大学 | Electromagnetic tracking method based on quadrature magnetic bar rotation search and system thereof |
| CN103412337A (en) * | 2013-07-16 | 2013-11-27 | 复旦大学 | Dual-independent rotating magnetic bar electromagnetic tracking-based position tracking method and electromagnetic tracking system |
| CN103575271A (en) * | 2013-10-29 | 2014-02-12 | 复旦大学 | Electromagnetic tracking system and method based on electric control rotary magnetic field |
Non-Patent Citations (2)
| Title |
|---|
| A Novel Non-model-based 6-DOF Electromagnetic Tracking Method Using Non-iterative Algorithm;Xin Ge et al.;《31st Annual International Conference of the IEEE EMBS》;20091231;第5114-5117页 * |
| 用于微创手术导航的六自由度电磁跟踪方法;葛鑫 等;《航天医学与医学工程》;20110630;第24卷(第3期);第197-203页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104776865A (en) | 2015-07-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104776865B (en) | The electromagnetic tracking system and method quickly determined based on maximum magnetic induction Vector Rotation angle | |
| Song et al. | An efficient magnetic tracking method using uniaxial sensing coil | |
| CN103575271B (en) | Electromagnetic tracking system based on automatically controlled rotating excitation field and method | |
| CN103411624B (en) | The magnetic field sources scaling method and system of electromagnetic tracking system based on micromotion platform | |
| EP3588011B1 (en) | Position sensor system and method, robust against disturbance field | |
| CN102426392B (en) | Electromagnetic tracking method based on quadrature magnetic bar rotation search and system thereof | |
| Dai et al. | 6-D electromagnetic tracking approach using uniaxial transmitting coil and tri-axial magneto-resistive sensor | |
| CN108662973B (en) | Electromagnetic tracking system and method based on phase discrimination technology | |
| JP2011227074A (en) | Method and device for compensating measurement value of magnetic field, object-localizing method and system, and recording medium for these methods | |
| US11257643B2 (en) | Magnetic attractive rotary button system | |
| Kusche et al. | Indoor positioning via artificial magnetic fields | |
| WO2003081265A1 (en) | Electromagnetic wave generation source sensing device | |
| TWI608243B (en) | Localization device and method using magnetic field | |
| RU2011122702A (en) | METHOD FOR DETERMINING CHARACTERISTICS PARAMETERS OF A THREE-COMPONENT MAGNETOMETER | |
| JP2000292111A (en) | Apparatus and method for measuring attitude and position | |
| Zeng et al. | An analytic algorithm based position and orientation detection using a tri-axial magnetoresistive sensor | |
| Tadayon et al. | 3d position estimation using a single coil and two magnetic field sensors | |
| CN109730770B (en) | Method for reducing volume of magnetic field receiving unit and measuring magnetic field change rate, magnetic field receiving unit, electromagnetic tracking system and application | |
| Park et al. | Technical review: electromagnetic sensor system for localization of medical devices | |
| CN106950523A (en) | Rotating excitation field based on voltage controlled current source realizes device and method | |
| US20230107459A1 (en) | Device, method and system for determining position of a magnet | |
| EP1131597A1 (en) | Magnetic sensor system for fast-response, high resolution, high accuracy, three-dimensional position measurements | |
| Yin et al. | Design of six degrees of freedom electromagnetic tracker for virtual reality system | |
| Xu et al. | Anti-noise electromagnetic positioning algorithm based on magnetic dipole model | |
| Husstedt et al. | Measurement of a multi-pole encoder with a magnetic and coordinate measuring machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170707 Termination date: 20210321 |