Geomagnetic Compensation for the Rotating of Magnetometer Array During Magnetic Tracking
Geomagnetic Compensation for the Rotating of Magnetometer Array During Magnetic Tracking
复制标题
磁跟踪过程中磁力计阵列旋转的地磁补偿
DOI：
10.1109/tim.2018.2875965
复制
发表时间：
2019-09-01
影响因子：
5.6
通讯作者：
Song, Shuang
中科院分区：
文献类型：
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作者：
Dai, Houde;Hu, Chao;Song, Shuang
基于永磁体和磁强计阵列的磁跟踪方法具有无线、实时、无视距问题等优点。但在跟踪过程中，由于磁力计阵列的旋转，会大大降低其跟踪精度。其原因在于三轴地磁分量的相对变化，在跟踪前应进行标定。本文提出了一种基于惯性传感器的地磁补偿方法，以减少三轴地磁分量对磁跟踪性能的干扰。安装在磁强计阵列上的惯性测量单元可以实时捕获磁强计阵列的三轴旋转。由于三轴地磁分量的矢量和是恒定的，磁力计阵列的旋转矢量可以转换为三轴地磁分量的变化。这样，即使磁力计阵列旋转，磁力计输出中包含的三轴地磁分量也可以与永磁体的传感信号分离。实验结果表明，该方法显著提高了磁跟踪精度。该方法使磁力计阵列和磁体在跟踪过程中同时旋转，扩展了磁跟踪方法的应用范围。
Based on a permanent magnet and a magnetometer array, magnetic tracking approach has some advantages such as wireless, real-time, and no line-of-sight problem. However, its tracking accuracy will be greatly deteriorated by the magnetometer array's rotating during the tracking process. The reason lies in the relative variation of triaxial geomagnetic components, which should be calibrated before the tracking process. In this paper, we proposed an inertial sensor-based geomagnetic compensation method to reduce the intervention of the triaxial geomagnetic components for the magnetic tracking performance. An inertial measurement unit, which is situated on the magnetometer array, can capture the triaxial rotation of the magnetometer array in real time. As the vector sum of the triaxial geomagnetic components is constant, the rotation vector of the magnetometer array can be converted to the variation of the triaxial geomagnetic components. Thus, the triaxial geomagnetic components, which are included in the magnetometer outputs, can be separated from the sensing signals of permanent magnet even if the magnetometer array is rotating. The experimental results indicate that the magnetic tracking accuracy has been significantly improved. This method extends the application scope of the magnetic tracking approach because it enables both the magnetometer array and magnet to rotate during the tracking process.