The magnetic localization method has been widely studied, which is mainly based on the accurate mapping of the magnetic field generated by magnetic sources. Many factors affect localization accuracy in the experiment. Therefore, this paper tends to study the relationship between localization accuracy and sensor array with different experiments. This system uses a small magnet as the magnetic source, and the mathematical model of the magnetic positioning system is established based on the magnetic dipole model to estimate the magnetic field. The Levenberg-Marquardt algorithm was used to construct a magnetic positioning objective function for comparison experiments. Experimental results show:When the sensor is evenly distributed around the magnet, the positioning accuracy is higher than other layout of the sensor array, the average localization error is 0.47mm and the average orientation error is 0.92 degree.
翻译:对磁定位方法进行了广泛研究,主要基于对磁源产生的磁场的精确绘图,许多因素影响到实验中的定位准确性。因此,本文倾向于研究定位精确性和传感器阵列与不同实验之间的关系。这个系统使用小磁力作为磁源,磁定位系统的数学模型以磁极模型为基础,以估计磁场。 Levenberg-Marquardt算法用于为比较实验建立一个磁定位客观功能。实验结果显示:当传感器在磁场上分布均匀时,定位准确性高于传感器阵列的其他布局,平均定位误差为0.47毫米,平均方向误差为0.92度。