永磁定位系统磁传感器的两步迭代优化标定方法  

A two step iterative calibration method for permanent magnet positioning system sensor

作　　者：孔平[1,2] 潘宇 陈泉 迟志鹏 李然 KONG Ping;PAN Yu;CHEN Quan;CHI Zhipeng;LI Ran(School of Health Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;Collaborative Innovation Center for Biomedicine&College of Arts and Science,Shanghai University of Medicine and Health Sciences,Shanghai 201318,China;School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学健康科学与工程学院,上海200093 [2]上海健康医学院协同科研中心&文理教学部,上海201318 [3]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《中国惯性技术学报》2024年第8期833-840,848,共9页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(12202280)。

摘　　要：为减小磁传感器位置、方向和灵敏度系数误差对永磁定位系统定位定向精度的影响,提出了一种基于最小二乘法的两步迭代(TSI)磁传感器标定方法。首先,校准磁传感器的方向和灵敏度系数,再进行位置校准,多次迭代后可以得到稳定的标定参数。其次,使用粒子群优化(PSO)算法与序列二次规划(SQP)算法结合进行迭代求解,在算法优化过程中,增加三组未知数约束,提高求解精度。最后对比使用不同标定方法的永磁定位系统定位定向精度,测试结果表明,所提标定方法较传统基于最小二乘的标定方法的系统定位精度提高20.48%,定向精度提高35.55%。In order to reduce the influence of position,direction and sensitivity coefficient errors of magnetic sensors on the positioning and orientation accuracy of permanent magnet positioning systems,a two-step iterative(TSI)calibration method based on the least squares method is proposed.Firstly,the orientation and sensitivity coefficients of the magnetic sensors are calibrated.Then the position is calibrated,and the stable calibration parameters can be obtained after several iterations.Secondly,using the particle swarm optimization(PSO)algorithm combined with sequential quadratic programming(SQP)for iterative solutions,three sets of unknown constraints are added to improve the solving accuracy.Finally,the positioning and orientation accuracy of the permanent magnet positioning system using different calibration methods is compared.The test results show that the proposed calibration method improves the positioning accuracy by 20.48% and the orientation accuracy by 35.55% compared with the traditional calibration method based on least squares.

关 键 词：永磁定位系统 磁传感器 误差标定 定位定向精度 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]