CN105203096B - Rotating excitation field fast tracking method and system based on 4 points of measurements - Google Patents
Rotating excitation field fast tracking method and system based on 4 points of measurements Download PDFInfo
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- CN105203096B CN105203096B CN201510652560.XA CN201510652560A CN105203096B CN 105203096 B CN105203096 B CN 105203096B CN 201510652560 A CN201510652560 A CN 201510652560A CN 105203096 B CN105203096 B CN 105203096B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
Abstract
The invention belongs to electromagnetic field, specially a kind of rotating excitation field fast tracking method and system based on 4 points of measurements.The inventive method includes：First, magnetic field sources often rotate 45 ° of magnetic sensors and gather a magnetic induction intensity value, gather four values altogether in the range of 180 ° of rotary searches of arbitrary plane；Then, four sampled values are divided into two groups positioned at magnetic induction intensity maximum both sides according to certain rule；Then, every group of 2 point datas are linked to be straight line, calculate the slope of two straight lines；Finally, according to certain rule two straight lines of amendment, then the anglec of rotation corresponding to the intersection point of two straight lines is consistent with the anglec of rotation corresponding to magnetic induction intensity maximum.Present invention additionally comprises the electromagnetic tracking system for realizing the rotating excitation field fast tracking method based on 4 points of measurements.The present invention can improve the accuracy and speed that rotating excitation field points to Magnetic Sensor, and then lift the performance of electromagnetic tracking system.
Description
Technical field
The invention belongs to electromagnetic field, and in particular to a kind of magnetic induction intensity maximum of electromagnetic tracking system
Rotate the optimization method and its system of angular measurement.
Background technology
Electromagnetism tracks（Electromagnetic Tracking）, or electromagnetic field positioning, it is that one kind utilizes electromagnetic field pair
Track the locus of target and posture carries out detection and the method for real-time tracking.This method can be applied to leading for Minimally Invasive Surgery
Boat, also it can operate with virtual（Enhancing）The fields such as reality, 3-D supersonic imaging.Electromagnetic tracking system is typically by magnetic field sources（As forever
Magnet, electromagnet coil）, magnetic field sensor, control process unit three parts composition.Magnetic field sources produce magnetic field in fixed position,
Then the magnetic induction intensity data measured using the Magnetic Sensor being attached in tracking target, the space bit of tracking target is solved
Put and posture.
Electromagnetic tracking method based on rotating excitation field is to catch magnetic induction intensity maximum by Magnetic Sensor, it is determined that rotation
Magnetic field sources（It is made up of magnet coil）Caused magnetic induction intensity maximum points to the Magnetic Sensor being fixed in tracking target, from
And calculate position and posture of the tracking target relative to magnetic field sources.Therefore, if using magnetic field known to two relative distances
Source, with carrying out alternative excitation rotary search, and magnetic induction intensity maximum caused by them is eventually pointed to Magnetic Sensor, you can
To obtain the geometrical relationship between tracking target and two magnetic field sources, tracking target six is quickly calculated by noniterative algorithm certainly
By the position spent and posture.Position and Attitude Algorithm compared to iteration, noniterative algorithm calculating speed is fast, computing is simple, performance
It is stable, low is required to hardware configuration, can overcome iterative algorithm need to rely on infinity dipole model, computation complexity it is high,
Easily dissipate, the problem of Local Extremum etc. be present.
However, for the above-mentioned electromagnetic tracking system based on rotating excitation field, how rapidly and accurately to make caused by magnetic field sources
Magnetic induction intensity maximum is accurately directed to sensor, will directly affect the performance of whole system.
The content of the invention
It is an object of the invention to provide a kind of quick track side of the rotating excitation field based on rotating excitation field electromagnetic tracking system
Method and system.
In the present invention, rotating excitation field electromagnetic tracking system includes being fixed by two relative positions and known magnetic field sources form
Magnetic field source units, magnetic sensor unit and control process unit three parts.Wherein magnetic field sources can pass through rotation sweep
Realize any sensing of magnetic induction intensity maximum；This rotation can be realized by mechanical system or electronic system.Three axle magnetic
Sensor then can gather the magnetic induction intensity value of three orthogonal directions and Magnetic Sensor institute is obtained by way of Vector modulation
In the size and Orientation of the magnetic induction intensity of position.On the one hand control process unit provides conjunction to form the magnet coil of magnetic field sources
Suitable excitation and the rotation sweep of current control magnetic field sources, make maximum magnetic induction caused by two magnetic field sources eventually point to magnetic
Sensor（Track target）；On the other hand, the data that magnetic sensor unit collects handle with simultaneously calculated magnetic induction
Maximum of intensity points to anglec of rotation during Magnetic Sensor.
The realization of the present invention is also based on following priori and condition：1. observed in fixing point, plane internal rotation magnetic field
Magnetic induction intensity has 180 ° of periodicity, and maximum/minimum value is unique in the cycle；And two caused by 360 ° of rotations of one week
Maximum/minimum value differs 180 °.2. the work for the electromagnetic tracking system based on rotating excitation field being applicable according to the present invention is former
Reason, magnetic field sources rotary search in the range of arbitrary 180 °, you can make a magnetic induction intensity maximum orientation sensor；But most
Being worth greatly may be corresponding with two anglecs of rotation in the range of 360 °.When two relative positions fix and known magnetic field sources caused by magnetic
When induction maximum is directed to sensor, because sensor can be only positioned at possible four anglecs of rotation（Each magnetic field sources 2
It is individual）Intersection point, the anglecs of rotation of two magnetic field sources can be uniquely determined by exclusive method.It is of the invention by magnetic field sources to simplify problem
Rotary search scope is limited to 180 °.
The present invention improve locating speed it is critical that according to caused by rotary magnetic field source Magnetic Induction Density Distribution feature,
Only gather the magnetic induction intensity signal for four angles for differing 45 ° successively, so that it may determine the anglec of rotation of magnetic induction intensity maximum
Degree.
Rotating excitation field fast tracking method proposed by the present invention based on 4 points of measurements, is concretely comprised the following steps：
First, data acquisition is carried out, magnetic field sources are in 180 ° of hunting zones, with 45 ° of step-lengths（The angle that step-length rotates every time
Degree）Carry out rotation sweep；
Often rotate 45 ° of Magnetic Sensors and gather a magnetic induction intensity data；Then packet is carried out, according to what is collected
The size of four data, be located at magnetic induction intensity maximum both sides respectively two groups are classified into according to certain rule；
Then, the slope of two groups of data is calculated, and obtains two straight lines for passing through 2 points of every group of data respectively；
Finally, due to which four points of collection are not necessarily symmetrical on maximum, in order to reduce evaluated error, two are being asked for
On the basis of slope absolute value average, two obtained straight lines are modified according to certain rule, made corresponding to its intersection point
Angle it is consistent with the anglec of rotation corresponding to magnetic induction intensity maximum.This method can be used for determining tracking mesh based on rotating excitation field
Mark（Magnetic Sensor is fixed in tracking target）The non-iterative electromagnetic tracking system of six-degree of freedom position and posture.
In the present invention, described data acquisition refers to that magnetic field sources often rotate 45 °, and Magnetic Sensor gathers once its position
Magnetic induction intensity；Magnetic field sources can collect four magnetic induction intensity data in 180 ° of scope internal rotations, then Magnetic Sensor, successively
It is designated as Ba, Bb, Bc, Bd., can be by this rotary course because the magnetic induction intensity in plane internal rotation magnetic field has 180 ° of periodicity
Expressed with closed circumference as shown in Figure 1.
In the present invention, the foundation of described packet is four induction levels collected.As shown in Fig. 2
Due to 180 ° of periodicity of rotating excitation field, a maximum and/or minimum value are constantly present in 180 ° of hunting zones.And magnetic induction
Maximum of intensity is always nearest away from the maximum in four sampled points；And magnetic induction intensity minimum value is always away from four sampled points
Minimum value it is nearest.Such four sampled points can always be divided into two groups positioned at magnetic induction intensity maximum both sides（Every group two
Individual point）.Table 1 lists being possible to situation and giving corresponding rule of classification for four magnetic induction intensity values collecting.
Wherein the 1st lists the situation that is possible to of four magnetic induction intensity collecting, and the 2nd row then give every kind of with reference to Fig. 1
In the case of section where magnetic induction intensity maximum, and collect four magnetic induction intensity are divided into accordingly strong positioned at magnetic induction
Spend maximum both sides two groups（Table 1 the 3rd arranges）.
The sampled point packet of various situations after 1 four measurements of table
In the present invention, the determination principle of the magnetic induction intensity maximum anglec of rotation is as shown in Figure 3：If in maximum or so
Both sides respectively take at symmetrical 2 points, then the intersection point one of 2, left side line and 2 lines in right side is scheduled on magnetic induction intensity curve most
On big value direction, the abscissa of the intersection point is the estimate of the magnetic induction intensity maximum anglec of rotation.According to data acquisition and divide
Group step, without loss of generality, the coordinate definition by four sampled points for being located at magnetic induction intensity maximum both sides in Fig. 3 is：
, then the slope difference of two straight lines
By formula（1）,（2）Calculate（Wherein）：
（1）
（2）
In the present invention, the amendment of two straight lines and the maximum magnetic induction anglec of rotation determine, are obtained for sampling
Four magnetic induction intensity values are not necessarily symmetrical on maximum, causeAbsolute value, cause what is finally given
Magnetic induction intensity maximum produces error.Pass through formula first for this（3）CalculateAverage：
（3）
Further according to four kinds of methods for determining straight line of table 2, pass through formula（4）-（7）Maximum magnetic induction rotation is calculated
Corner（WhereinThe anglec of rotation according to corresponding to the magnetic induction intensity maximum that * kind methods are calculated is represented, * takes
1、2、3、4）.
The method of 2 four kinds of determination straight lines of table
（4）
（5）
（6）
（7）
Above-mentioned four kinds determine that linear method is equivalent, optionally one of which can implement in real system.
The invention further relates to the rotating excitation field electromagnetic tracking system based on above-mentioned rotating excitation field fast tracking method, its structure
As shown in Figure 5.Including being fixed by two relative positions and magnetic field source units 10 that known magnetic field sources form, magnetic sensor
Unit 20 and the three parts of control process unit 30.Wherein, magnetic field source units 10 are made up of the coil being wound on bar magnet, and bar magnet is solid
Being scheduled on can be on the head of horizontal and vertical two Plane Rotations；Magnetic sensor unit 20 include magnetic sensor 21,
Signal conditioning circuit 22 and analog-to-digital conversion（ADC）Circuit 23；Control process unit 30 includes；Data sampling and memory cell
31st, controlling of sampling unit 32, magnetic field sources rotate/encouraged control unit 33, packet module 34, slope computing module 35, repair
Bar magnet anglec of rotation determining module 37 corresponding to positive module 36, magnetic induction intensity maximum；Control is rotated/encourages by magnetic field sources
Unit 33 processed controls the rotation of head, realizes bar magnet（That is magnetic field sources 10）Any sensing in space；In addition, magnetic field sources rotation/
Excitation control unit 33 also provides suitable exciting current for coil.Locus where the detecting sensor of magnetic sensor 21
The magnetic induction intensity of three orthogonal directions；The signal that signal conditioning circuit 22 perceives to magnetic sensor 21 be filtered and
Enhanced processing, analog to digital conversion circuit 23 under the control of controlling of sampling unit 32, believe by the simulation that signal conditioning circuit 22 is exported
Number be converted to data signal and deliver to control process unit 30 and be further processed；Control process unit 30 is defeated by sensor
The data gone out are sent into data sampling and memory cell 31 is stored, and after the completion of control magnetic field sources scanning, pass through data point
Group module 34 is grouped to data, is modified processing by the slope calculations of slope computing module 35, by correcting module 36,
Final basis obtains the angle corresponding to two straight-line intersections, true as the bar magnet anglec of rotation corresponding to magnetic induction intensity maximum
Cover half block 37 obtains the bar magnet anglec of rotation corresponding to magnetic induction intensity maximum.
Present system, the packet that the packet module 34 is used for the present invention calculate（That is the calculating of table 1）；It is described oblique
The slope that rate computing module 35 is used for the present invention calculates（That is formula（1）、（2）Calculating）；Described correcting module 36 is used for this
The corrected Calculation of invention（That is formula（3）Calculating）；The bar magnet anglec of rotation corresponding to the magnetic induction intensity maximum determines
Module 37 is used for the calculating of the bar magnet anglec of rotation corresponding to magnetic induction intensity maximum（That is formula（4）-（7）Calculating）.
In order that magnetic induction intensity maximum orientation sensor caused by rotating excitation field, magnetic field sources will be with small in conventional method
Step-length（Step-length when being 1 ° issuable angular error be 0.5 °）Searched in the range of 180 °（Often rotate step sampling once）,
Obtaining 180 sampled datas could reliably realize, have a strong impact on the real-time of system positioning.It is proposed by the present invention to be based at 4 points
The rotating excitation field fast tracking method of measurement, the characteristics of distribution according to rotary magnetic field source planar magnetic induction, with 45 ° of big step-lengths
The mode of search, it is only necessary to when 4 sampled datas just can determine that magnetic induction intensity maximum orientation sensor caused by rotating excitation field
The anglec of rotation so that positioning/tracking velocity of system greatly improves.
Brief description of the drawings
Fig. 1 is that 4 measured zones divide schematic diagram.
Fig. 2 is the possible range by 4 sparse sampling determining maximums or minimum value（T1 T2 be maximum between T3
Be worth scope, T3 T4 be minimum value scope between T1）.
Fig. 3 is that the magnetic induction intensity maximum anglec of rotation based on 4 points of measurements determines schematic diagram.
Fig. 4 is the rotating excitation field electromagnetic tracking system frame of rotating excitation field fast tracking method of the present invention based on 4 points of measurements
Figure.
Fig. 5 is the rotating excitation field electromagnetic tracking system knot of rotating excitation field fast tracking method of the present invention based on 4 points of measurements
Composition.
Fig. 6 is magnetic field sources scanner uni data acquisition flow figure.
Fig. 7 is the rotating excitation field fast tracking method implementation process figure based on 4 points of measurements.
Embodiment
4 ~ 7 the invention will be further described below in conjunction with the accompanying drawings.
Fig. 4 is a kind of rotating excitation field fast tracking method applicable electromagnetic tracking system of the present invention based on 4 points of measurements
Composition, including magnetic field source units 10, magnetic sensor unit 20 and control process unit 30.Wherein control process unit 30 controls
The scanning search in the range of 180 ° of magnetic field sources 10；Magnetic field sources 10 often rotate 45 °, and Magnetic Sensor 20 gathers a magnetic induction intensity number
According to, and store data in control process unit 30；Control process unit 30 is fast by the rotating excitation field based on 4 points of measurements
Fast tracking determines the anglec of rotation corresponding to magnetic induction intensity data maximums.
Fig. 5 is the detailed diagram of magnetic orientation system.The magnetic field sources 10 of the present embodiment are made up of the coil being wound on bar magnet,
Bar magnet is fixed on can be on the head of horizontal and vertical two Plane Rotations；Magnetic sensor unit 20 senses including three axle magnetic
Device 21, signal conditioning circuit 22 and analog-to-digital conversion（ADC）Circuit 23；Control process unit 30 includes；Data sampling and storage
Unit 31, controlling of sampling unit 32, magnetic field sources rotate/encouraged control unit 33, packet module 34, slope computing module
35th, correcting module 36, the bar magnet anglec of rotation determining module 37 corresponding to magnetic induction intensity maximum；Rotated/swashed by magnetic field sources
The rotation that control unit 33 controls head is encouraged, realizes bar magnet（That is magnetic field sources 10）Any sensing in space；In addition, magnetic field sources are revolved
Turn/encourage control unit 33 also to provide suitable exciting current for coil.Space where the detecting sensor of magnetic sensor 21
The magnetic induction intensity of three orthogonal directions in position；The signal that signal conditioning circuit 22 perceives to magnetic sensor 21 is filtered
Ripple and enhanced processing, analog to digital conversion circuit 23 is under the control of controlling of sampling unit 32, mould that signal conditioning circuit 22 is exported
Plan signal, which is converted to data signal and delivers to control process unit 30, to be further processed.Control process unit 30 will sense
The data of device output are stored, and after the completion of control magnetic field sources scanning, data are divided by packet module 34
Group, by the slope calculations of slope computing module 35, by correcting module 36 processing is modified, it is final according to obtaining two straight lines
Angle corresponding to intersection point, it is strong that magnetic induction is obtained as the bar magnet anglec of rotation determining module 37 corresponding to magnetic induction intensity maximum
Spend the bar magnet anglec of rotation corresponding to maximum.
Fig. 6 illustrates for magnetic field sources scanner uni data acquisition flow, concretely comprises the following steps：
Step 41：First, magnetic field sources are reset to initial position by control process unit（Now bar magnet points to and is defined as zero
Degree）；
Step 42：Then, control process unit control magnetic field sources rotate 45° angle in horizontal plane, and to determine current excitation
Magnetic field source coil produces magnetic field；
Step 43：The magnetic induction intensity of magnetic sensor unit collection position simultaneously stores data in control process
In the memory cell 30 of unit；
Step 44：Judge whether the horizontal Surface scan of completion（The present embodiment magnetic field sources scanning range is set to 180 °）If do not have
Complete scanning and then repeat said process, otherwise,
Step 45：One group of data acquisition is completed, and passes through the magnetic induction intensity maximum based on 4 points of measurements shown in Fig. 7
Anglec of rotation fast determination method, determine the anglec of rotation corresponding to magnetic induction intensity maximum on horizontal plane；Afterwards magnetic field sources from this
The anglec of rotation is set out, then is carried out and horizontal plane identical data acquisition on the vertical plane.
Fig. 7 is the flow diagram of the rotating excitation field fast tracking method based on 4 points of measurements.Concretely comprise the following steps：
Step 51：Collect four data：
Step 52：First, four data collected in data acquisition are grouped according to table 1；
Step 53：Then, every group of two data are connected and obtain two straight lines, and calculate their slope respectively（By public affairs
Formula（1）、（2））；
Step 54：Then, the average of two straight slope absolute values is asked for（By formula（3））, and according to the method in table 2
2 pair of two straight line is corrected；
Step 55：Finally, due to angle and the corresponding rotation of magnetic induction intensity maximum corresponding to the intersection point of two straight lines
Gyration is consistent, by formulaMagnetic induction intensity maximum institute is calculated
The corresponding anglec of rotation.
More than, only presently preferred embodiments of the present invention, but protection scope of the present invention is not limited thereto is any to be familiar with sheet
Those skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in, should all cover
Within the protection domain of invention.Therefore, protection scope of the present invention should require defined protection model with claims
Enclose and be defined.
Claims (2)
1. it is a kind of based on 4 points measurement rotating excitation field fast tracking methods, wherein, rotating excitation field electromagnetic tracking system include by
Two relative positions are fixed and magnetic field source units, magnetic sensor unit and the control process unit of known magnetic field sources composition
Three parts；Magnetic field sources realize any sensing of magnetic induction intensity maximum by rotation sweep；Magnetic sensor is used to gather
The magnetic induction intensity value of three orthogonal directions and obtained by way of Vector modulation Magnetic Sensor position magnetic induction it is strong
The size and Orientation of degree；On the one hand control process unit provides suitable excitation and electric current control to form the magnet coil of magnetic field sources
The rotation sweep of magnetic field sources processed, maximum magnetic induction caused by two magnetic field sources is eventually pointed to Magnetic Sensor and track mesh
Mark, on the other hand, the data that magnetic sensor unit collects handle and calculated magnetic induction maximum of intensity is pointed to
Anglec of rotation during Magnetic Sensor；It is characterized in that the rotation of magnetic induction intensity maximum is solved by the sampled value of four 45 ° of spacing
The six-degree of freedom position and posture of object efficiently to track in angle, concretely comprise the following steps：
（One）First, gathered data；
（Two）Then, the packet that will be collected, that is, it is divided into two groups positioned at magnetic induction intensity maximum both sides；
（Three）Then, every group of 2 points are connected respectively, and fitting obtains two straight lines, and calculates the slope of two straight lines；
（Four）Finally, to step（Three）Two obtained straight lines are modified, according to the angle corresponding to the intersection point of two straight lines
The characteristics of consistent with the magnetic induction intensity maximum anglec of rotation, determine the anglec of rotation corresponding to magnetic induction intensity maximum；
Step（One）The gathered data is to carry out rotation sweep by magnetic field sources with 45 ° of step-lengths, and scanning range is 180 °；
Magnetic field sources often rotate 45 °, the magnetic induction of three orthogonal directions of locus where magnetic sensor gathers once it
Strength signal, the signal store after analog-to-digital conversion；When magnetic field sources complete the scanning of a plane, you can collect four magnetic strengths
Intensity data is answered, is designated as：Ba、Bb、Bc、Bd；
Step（Two）Described in packet, be according to 4 data Ba, Bb, Bc, Bd magnitude relationship collected, by it
Be divided into two groups positioned at magnetic induction intensity maximum both sides：
Step（Three）Described fitting a straight line and slope calculate, and are by step（Two）Every group of 2 points are linked to be one directly after packet
Line；Set up an officePositioned at the side of magnetic induction intensity maximum, point
Positioned at the opposite side of magnetic induction intensity maximum, and according toWithPoint
The slope of this two straight lines is not calculated；
Step（Four）The anglec of rotation corresponding to described determination magnetic induction intensity maximum is in step（Three）On the basis of, calculate two
The average of bar straight slope absolute value, then according to a pair of steps of the four of following table kinds of methods
Suddenly（Three）Two obtained straight lines are modified：
The anglec of rotation of angle and magnetic induction intensity maximum corresponding to revised two straight-line intersections has uniformity,
If withThe anglec of rotation according to corresponding to the magnetic induction intensity maximum that * kind methods are calculated is represented,, then have：
。
A kind of 2. electromagnetic tracking system of the rotating excitation field fast tracking method based on described in claim 1, it is characterised in that：Bag
Include and fixed by two relative positions and magnetic field source units, magnetic sensor unit and control process that known magnetic field sources form
Unit three parts；Wherein, magnetic field source units are made up of the coil being wound on bar magnet, and bar magnet is fixed on can be horizontal and vertical two
On the head of individual Plane Rotation；Magnetic sensor unit includes magnetic sensor, signal conditioning circuit and analog-to-digital conversion
Circuit；Control process unit includes：Data sampling and memory cell, controlling of sampling unit, magnetic field sources rotation/excitation control list
The bar magnet anglec of rotation corresponding to member, packet module, slope computing module, correcting module, magnetic induction intensity maximum is true
Cover half block；The rotation of control unit control head is rotated/encouraged by magnetic field sources, realizes any sensing of the bar magnet in space；Separately
Outside, magnetic field sources rotate/encouraged control unit and also provide suitable exciting current for coil；Magnetic sensor detecting sensor institute
In the magnetic induction intensity of three orthogonal directions in locus；The signal that signal conditioning circuit perceives to magnetic sensor is carried out
Filtering and enhanced processing, analog to digital conversion circuit believe the simulation of signal conditioning circuit output under the control of controlling of sampling unit
Number be converted to data signal and deliver to control process unit and be further processed；Control process unit exports sensor
Data are sent into data sampling and memory cell is stored, and after the completion of control magnetic field sources scanning, pass through packet module
Data are grouped, are modified processing by slope computing module slope calculations, by correcting module, final basis obtains
Angle corresponding to two straight-line intersections, magnetic is obtained as the bar magnet anglec of rotation determining module corresponding to magnetic induction intensity maximum
The bar magnet anglec of rotation corresponding to induction maximum.
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| CN108732519B (en) * | 2018-03-28 | 2023-08-11 | 天津工业大学 | Wireless charging electromagnetic field three-dimensional magnetic measurement method and device |
| CN109633549A (en) * | 2018-12-24 | 2019-04-16 | 科立讯通信股份有限公司 | Audio collection device, audio collecting device and audio localization method |
| CN110308490B (en) * | 2019-06-13 | 2021-06-08 | 南京理工大学 | Rotary motion magnetic abnormal target detection device and method based on magnetic sensor array |
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