Gao Xiang, Yan Shenggang, Li Bin
School of Marine Science and Technology, Northwestern Polytechnical University, 710072 Xi'an, China.
Science and Technology on Near-Surface Detection Laboratory, 214035 Wu Xi, China.
Sensors (Basel). 2017 Sep 11;17(9):2079. doi: 10.3390/s17092079.
Magnetic detection techniques have been widely used in many fields, such as virtual reality, surgical robotics systems, and so on. A large number of methods have been developed to obtain the position of a ferromagnetic target. However, the angular rotation of the target relative to the sensor is rarely studied. In this paper, a new method for localization of moving object to determine both the position and rotation angle with three magnetic sensors is proposed. Trajectory localization estimation of three magnetic sensors, which are collinear and noncollinear, were obtained by the simulations, and experimental results demonstrated that the position and rotation angle of ferromagnetic target having roll, pitch or yaw in its movement could be calculated accurately and effectively with three noncollinear vector sensors.
磁检测技术已在许多领域得到广泛应用，如虚拟现实、手术机器人系统等。为获取铁磁目标的位置，人们已开发出大量方法。然而，目标相对于传感器的角旋转很少被研究。本文提出一种利用三个磁传感器确定移动物体位置和旋转角度的新方法。通过仿真获得了三个共线和非共线磁传感器的轨迹定位估计，实验结果表明，使用三个非共线矢量传感器可以准确有效地计算出在运动中具有滚动、俯仰或偏航的铁磁目标的位置和旋转角度。
