高背景磁场下的差分磁定位算法及应用  

Differential magnetic localization algorithm in high background magnetic field and its application

作　　者：王喆[1,2] 宋涛[1] 王金光[1,2] 王铮[1] 杨岑玉[1,2] 

机构地区：[1]中国科学院电工研究所,北京100190 [2]中国科学院研究生院,北京100049

出　　处：《仪器仪表学报》2009年第11期2384-2389,共6页Chinese Journal of Scientific Instrument

基　　金：国家863计划(2006AA04Z249)资助项目

摘　　要：为了有效去除高背景磁场对永磁体定位的磁干扰,本文提出了一种高背景磁场下的差分磁定位算法。在背景磁场大小和方向均相等的两位置点处布置一组磁传感器,每组传感器均采用差分放大电路,共八组通路。在高背景磁场下,运用差分磁定位算法反演永磁体的位置和姿态。并将该算法应用于外磁场导向的仿生微型机器人,设计了定位硬件系统。通过实验验证了此差分磁定位算法可以较好地反演该仿生微型机器人位置和姿态。This paper reports a differential magnetic localization algorithm in high background magnetic field that interferes localization of permanent magnet. In order to remove the interference, two magnetic sensors are placed in two points where the background magnetic fields are the same. There are eight channels and every channel uses a differential circuit. Then the location and orientation of the permanent magnet are inversed by differential magnetic localization algorithm, which is applied to a bionic micro-machine guided by external field. The hardware system for localization is also designed. Experiments show that the location and orientation of the bionic micro-machine are inversed well by the differential magnetic localization algorithm.

关 键 词：差分磁定位算法 磁偶极子 圆柱永磁体 仿生微型机器人 

分 类 号：TP202.2[自动化与计算机技术—检测技术与自动化装置]