基于磁梯度张量的旋转永磁体定位技术

doi:10.3969/j.issn.1001-506X.2020.09.26

Abstract

Abstract:

In order to solve the problems that the existing wireless navigation positioning system has a low positioning accuracy and even unusability in some special occasions, a rotating permanent magnet three-dimensional positioning technology is proposed based on the magnetic gradient tensor (MGT) according to the advantages of strong penetration of magnetic field signals and all-weather operation. Firstly, a rotating single permanent magnet is used as a magnetic beacon to generate sinusoidal magnetic field signal of a fixed frequency, and the signal is extracted at the receiving end according to the overall least squares method. Then, the received signal is processed by the Matlab software to calculate the MGT and the magnetic field strength. The position information is obtained through the established mathematical model. Finally, the proposed method is experimentally verified at three rotation frequencies, and the average positioning error within 45 m is 0.24 m. The analysis shows that the method can effectively reduce the interference of the environmental magnetic field, has the advantages of concealment and real-time, and has good development prospects in the fields of underground drilling system and underwater vehicle operation.

Key words: navigation and positioning system, rotating magnetic beacon, magnetic gradient tensor (MGT), overall least squares method

CLC Number:

V249.32

Run WANG, Binfeng YANG, Huan SUN, Hua GUAN. Rotating permanent magnet positioning technology based on magnetic gradient tensor[J]. Systems Engineering and Electronics, 2020, 42(9): 2085-2090.

Figures/Tables 9

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References 22

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材料牌号	剩磁/KGs	矫顽力/Koe	磁能积/MGoe	长度/cm	直径/cm
N33SH	Br=11.2~12	HCJ＞17	34	50	10

次数	真实位置/m	测量位置/m
次数	真实位置/m	10 Hz	25 Hz	40 Hz
1	(25, 25, 0)	(24.98, 25.02, 0.01)	(25.00, 25.01, 0.00)	(24.87, 24.72, -0.06)
2	(30, 30, 0)	(30.07, 29.86, -0.09)	(29.90, 30.00, -0.05)	(29.75, 29.88, 0.13)
3	(35, 35, 0)	(34.91, 34.90, -0.15)	(34.92, 35.03, 0.07)	(34.83, 34.75, -0.20)
4	(40, 40, 0)	(39.88, 39.85, 0.19)	(40.16, 39.82, -0.13)	(39.72, 39.69, -0.52)
5	(45, 45, 0)	(44.70, 45.83, 0.43)	(45.22, 44.81, -0.25)	(44.53, 45.34, -0.77)

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Rotating permanent magnet positioning technology based on magnetic gradient tensor

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