基于磁梯度张量的旋转永磁体定位技术

为解决现有无线导航定位系统在一些特殊场合定位精度不高甚至出现无法使用等问题,根据磁场信号穿透力强、可全天候工作的优势,提出了一种基于磁梯度张量(magnetic gradient tensor, MGT)的旋转永磁体三维定位技术。首先,利用旋转单永磁体作为磁信标产生固定频率的正弦磁场信号,在接收端依据信号特征采用总体最小二乘法提取信号。然后,利用Matlab软件对接收到的信号进行数据处理,解算出MGT及磁场强度的大小,通过建立数学模型求得位置信息。最后,在3种旋转频率下对所提出的方法进行实验验证,在45 m内的平均定位误差为0.24 m。分析表明，该方法能够有效降低环境磁场的干扰,具有隐蔽性、实时性等优点,在地下钻进系统、水下航行器运行等领域具有较好的发展前景。

Rotating permanent magnet positioning technology based on magnetic gradient tensor

In order to solve the problems that the existing wireless navigation positioning system has a low positioning accuracy and even unusability in some special occasions, a rotating permanent magnet three-dimensional positioning technology is proposed based on the magnetic gradient tensor (MGT) according to the advantages of strong penetration of magnetic field signals and all-weather operation. Firstly, a rotating single permanent magnet is used as a magnetic beacon to generate sinusoidal magnetic field signal of a fixed frequency, and the signal is extracted at the receiving end according to the overall least squares method. Then, the received signal is processed by the Matlab software to calculate the MGT and the magnetic field strength. The position information is obtained through the established mathematical model. Finally, the proposed method is experimentally verified at three rotation frequencies, and the average positioning error within 45 m is 0.24 m. The analysis shows that the method can effectively reduce the interference of the environmental magnetic field, has the advantages of concealment and real-time, and has good development prospects in the fields of underground drilling system and underwater vehicle operation.