六自由度电磁跟踪系统位置参数求解算法的改进

为了获得精度较高、稳定性较好的六自由度电磁跟踪系统目标参数求解算法,在分析原参数求解算法误差产生原理的基础上,引入特征值和特征向量的概念,提出了一种结合特征向量法和单位指向矢最大分量跟踪法的改进算法来求解目标的位置参数,并对改进算法的稳定性进行了分析。通过数值模拟和实验验证,算法很好地解决了原跟踪算法在位置参数α、β角度较小区域将误差放大的问题,提高了算法的稳定性和系统定位计算的精度。

Improvement of position parameters calculation arithmetic in six-degree-of-freedom electromagnetic tracking system

To promote the precision and stabil ity of calculat ing an o bject øs parameters in the six-deg ree-offr eedom electr omag net ic tr acking system, a new impro ved arithmet ic w as presented on the basis of analy zing the error pr inciple of the former t racking arithmet ic. T he impro ved arithmetic is a hybrid of the max imal po nderance of unit pointing v ecto r t racking ar ithmet ic and the eig envector arithmet ic. T he stabil ity o f the new arithmet ic w as al so analyzed. By numer ical simulat ion and experimental validat ion, the pr oblem of mag nifying calculation erro r in some Aand B ang le area o f former arithmet ic w as so lved, w hich pr omotes the stability and precision of tr acking arithmet ic.