电磁式跟踪器磁场畸变的姿态校正技术  

On Calibration of Magnetic Field Distortion for Electromagnetic Trackers

作　　者：张求知[1] 刘建业[1] 王立伟[2] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]中国一航洛阳电光设备研究所

出　　处：《南京航空航天大学学报》2007年第6期711-715,共5页Journal of Nanjing University of Aeronautics & Astronautics

摘　　要：电磁式跟踪器可以测量物体的位置和姿态,但其测量精度也容易受金属环境干扰。本文根据电磁跟踪器的工作原理,给出了电磁式跟踪器姿态校正的模型,讨论了两种不同的姿态校正实现方法:插值法和拟合法,比较了两种方法的优缺点。最后,对某一金属环境进行了畸变姿态校正的试验,给出了3个不同的姿态实际值和在此金属环境下的畸变和校正结果。试验结果表明本文提出的姿态校正算法能很好地补偿金属环境引起的电磁式跟踪器姿态的畸变。Electromagnetic trackers are used for measuring the location and orientation of one object, but the precision is liable to the interference of metallic environment. A model for orientation calibration is put forward based on the operational principle of the electromagnetic tracker. The advantages and disadvantages of two methods for orientation calibrating （interpolation and polynomial fitting methods）are discussed and analyzed. Finally, an experiment is carried out on distorted orientation calibration in a certain metal environment, and the distortion and the correction results for three different orientations are obtained with their actual values. Results show that the algorithms can compensate the distortion in orientations caused by the metal environment.

关 键 词：三维插值 四面体分解 多项式拟合 电磁跟踪器 

分 类 号：TN820.5[电子电信—信息与通信工程]