基于磁场矢量相位差的多传感器定位技术研究  

Research on Multi-sensor Positioning Technology Based on Phase Difference of Magnetic Field Vector

作　　者：陈雅娟 周子健 李清华 谢阳光 张一博 Chen Yajuan;Zhou Zijian;Li Qinghua;Xie Yangguang;Zhang Yibo(School of Aeronautics,Harbin Institute of Technology,Harbin 150006,China;AVIC Flight Automatic Control Research Institute,Xi’an 710065,China)

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150006 [2]航空工业西安自动飞行控制研究所,陕西西安710065

出　　处：《航空科学技术》2021年第10期74-79,共6页Aeronautical Science & Technology

基　　金：航空科学基金(20175877011)。

摘　　要：磁信标定位系统展现出的强穿透性、低功耗、低延迟等特点,使其在复杂环境定位领域具有非常大的应用潜力。同时,磁信标定位系统还面临一些挑战,如磁场的快速衰减导致的信号信噪比降低、定位精度下降以及覆盖区域有限、复杂环境下信号可能出现畸变以及在测距时需要磁矩等先验信息的问题。针对上述问题,本文提出了一种基于多传感器的正交旋转磁信标定位算法,并对低信噪比磁场信号的提取与参数辨识算法展开了研究。首先借助磁场矢量之间相位差的表达式求解出稳定的相对俯仰角信息,然后利用多个传感器之间的位置约束求解出目标点的相对方位。与传统磁信标定位系统相比,避免了使用磁矩等先验信息。试验结果显示,不使用磁矩等先验信息的情况下,在信噪比环境为-8dB的环境中,本算法解算得到的最大定位误差为0.23m,平均定位误差为0.09m,定位结果良好。Magnetic beacon positioning systems have strong application penetration, low power consumption, low delay and other characteristics, so they have great potential in complex environment positioning. At the same time,there are still some challenges, such as the reduction of signal-to-noise ratio, the decline of positioning accuracy and the limited coverage area which are caused by the rapid reduction of magnetic field. There are also signal distortion in complex environment and the need for prior information such as magnetic moment. In order to solve the problems above, this paper proposes a positioning algorithm based on multi-sensor and orthogonal rotating magnetic beacon,and studies the low signal-to-noise ratio magnetic signal extraction and parameter identification algorithm. Firstly, the expression of phase difference among magnetic field vectors is used to obtain the stable relative pitch angle. Then the position constraint between multiple sensors is used to obtain the relative position of the target point. Compared with the traditional magnetic beacon positioning system, this paper avoids using prior information such as magnetic moment. The test results show that without using prior information such as magnetic moment, in an environment with a signal-to-noise ratio of-8 dB, the maximum positioning error calculated by this algorithm is 0.23 m, and the average positioning error is 0.09 m, which shows good positioning result.

关 键 词：磁场定位 弱磁信号 多传感器定位 相位差 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]