平面电磁定位跟踪系统  

Planar Electromagnetic Positioning System

作　　者：包建孟 胡超[2] 林卫星[1] 王文虎[1,2] 王涛[1] 

机构地区：[1]宁波大学,宁波315211 [2]浙江大学宁波理工学院,浙江宁波315100

出　　处：《传感技术学报》2014年第4期518-523,共6页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金项目(61273332);宁波市自然科学基金项目(2012A610005)

摘　　要：通电线圈常被用作电磁定位装置收发器,应用在移动目标或机器人的实时位置跟踪任务中。系统的激励线圈磁场分布模型、信号发生提取电路和定位算法软件都影响系统定位的精度。本文采用磁偶极子模型,针对平面移动目标跟踪定位的特殊情况,设计基于嵌入式系统ARM(STM32)的大范围平面运动的定位系统。系统采用单发射线圈三接收线圈方案,及一种解析法求解目标位置的算法,可以定位离信号源数米范围内的移动目标。从仿真与实验中验证其可以很好的求解平面一类移动目标位置,平均误差在10 cm内。系统的定位精度满足大部分定位需要。The coil carrying on current is often used as electromagnetic positioning instrument. It can be used to track moving robot or other objects in real-time. In the system, the magnetic field model around the emitting coil, the signal generating and acquisition circuits, and the localization algorithm directly affects the positioning accuracy of the system. The magnetic dipole model is adopted for positioning calculations. In the case for its moving in the plane,a positioning system was designed based on embedded system ARM （STM32）. To get the exact position, it solves the equation with an analytic algorithm for the system with a single transmitting coil and three receiving coils. The moving objects can be located precisely within the range of several meters between the transmitter and the receivers. From the simulation and experimental results ,we can observe that the average error is lower than 10 cm. This accuracy is satisfactory for most application. Key words ：

关 键 词：电磁定位 平面跟踪 磁偶极子 线性求解 嵌入式系统 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]