CN105203096A - Rotary magnetic field rapid tracking method and system based on four-point measurement - Google Patents
Rotary magnetic field rapid tracking method and system based on four-point measurement Download PDFInfo
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- CN105203096A CN105203096A CN201510652560.XA CN201510652560A CN105203096A CN 105203096 A CN105203096 A CN 105203096A CN 201510652560 A CN201510652560 A CN 201510652560A CN 105203096 A CN105203096 A CN 105203096A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G—PHYSICS
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
Abstract
The invention belongs to the technical field of electromagnetic tracking and particularly relates to a rotary magnetic field rapid tracking method and system based on four-point measurement. The method comprises the following steps: firstly, when rotating a magnetic field source in a 180-degree rotary searching range of any plane for 45 degrees, acquiring a magnetic induction intensity value by a three-axis magnetic sensor and totally acquiring four values; then, dividing the four sampling values into two groups located on the two sides of a maximum value of magnetic induction intensity according to a certain rule; then connecting data at two points of each group to form a straight line, and calculating the slopes of the two straight lines; and finally, revising the two straight lines according to a certain rule so that a rotary angle corresponding to the crossed point of the two straight lines is consistent to a rotary angle corresponding to the maximum value of the magnetic induction intensity. The invention further provides an electromagnetic tracking system for realizing the rotary magnetic field rapid tracking system based on the four-point measurement. With the adoption of the rotary magnetic field rapid tracking method and system based on the four-point measurement, the accuracy and speed of pointing a rotary magnetic field to the magnetic sensor can be improved, so that the performance of the electromagnetic tracking system is improved.
Description
Technical field
The invention belongs to electromagnetic field, the optimization method that the magnetic induction density maximal value rotation angle being specifically related to a kind of electromagnetic tracking system is measured and system thereof.
Background technology
Electromagnetism follows the tracks of (ElectromagneticTracking), or claims electromagnetic field location, is a kind ofly to utilize electromagnetic field to detect the locus of tracking target and attitude and the method for real-time follow-up.The method can be applicable to the navigation of Minimally Invasive Surgery, also can apply to the fields such as virtual (enhancing) reality, 3-D supersonic imaging.Electromagnetic tracking system is generally made up of Magnetic Field Source (as permanent magnet, magnet coil), magnetic field sensor, controlled processing unit three part.Magnetic Field Source, in generation magnetic field, fixed position, then utilizes the magnetic induction density data being attached to the Magnetic Sensor in tracking target and recording, solves locus and the attitude of tracking target.
Electromagnetic tracking method based on rotating magnetic field catches magnetic induction density maximal value by Magnetic Sensor, determine that the magnetic induction density maximal value that rotary magnetic field source (being made up of solenoid) produces points to the Magnetic Sensor be fixed in tracking target, thus calculate tracking target relative to the position of Magnetic Field Source and attitude.Therefore, if adopt the Magnetic Field Source that two relative distance is known, carry out alternative excitation ground rotary search, and the magnetic induction density maximal value making them produce finally points to Magnetic Sensor, namely the geometric relationship between tracking target and two Magnetic Field Source be can obtain, position and the attitude of tracking target six degree of freedom calculated by noniterative algorithm fast.Compare position and the Attitude Algorithm of iteration, noniterative algorithm computing velocity is fast, computing is simple, stable performance, require low to hardware configuration, and can overcome iterative algorithm needs to rely on the problem that infinity dipole model, computation complexity are high, easily disperse, exist Local Extremum etc.
But, for the above-mentioned electromagnetic tracking system based on rotating magnetic field, how to make the accurate orientation sensor of magnetic induction density maximal value that Magnetic Field Source produces rapidly and accurately, will directly affect the performance of whole system.
Summary of the invention
The object of the present invention is to provide a kind of rotating magnetic field fast tracking method based on rotating magnetic field electromagnetic tracking system and system.
In the present invention, rotating magnetic field electromagnetic tracking system comprises to be fixed by two relative positions and known the Magnetic Field Source magnetic field source units, magnetic sensor unit and controlled processing unit three part that form.Wherein Magnetic Field Source can realize any sensing of magnetic induction density maximal value by rotation sweep; This rotation can be realized by mechanical system or electronic system.Magnetic sensor then can be gathered the magnetic induction density value of three orthogonal directionss and be obtained the size and Orientation of the magnetic induction density of Magnetic Sensor position by the mode of Vector modulation.Controlled processing unit provides suitable excitation and the rotation sweep of Current Control Magnetic Field Source for the solenoid forming Magnetic Field Source on the one hand, and the maximum magnetic induction that two Magnetic Field Source are produced finally points to Magnetic Sensor (tracking target); On the other hand, data magnetic sensor unit collected carry out process and calculated magnetic induction maximum of intensity point to Magnetic Sensor time rotation angle.
Realization of the present invention is also based on following priori and condition: 1. observe at point of fixity, the magnetic induction density that plane internal rotation turns magnetic field has 180 ° of periodicity, and maximum in the cycle/minimum value is unique; And two the maximum/minimum value produced in 360 ° of rotations of a week differ 180 °.2. according to the present invention the principle of work of the electromagnetic tracking system based on rotating magnetic field that is suitable for, Magnetic Field Source rotary search within the scope of arbitrary 180 °, can make a magnetic induction density maximal value orientation sensor; But maximal value may be corresponding with two rotation angle within the scope of 360 °.When two relative positions fix and known Magnetic Field Source produce magnetic induction density maximal value equal orientation sensor time, because sensor can only be positioned at the intersection point of possible four rotation angle (each Magnetic Field Source 2), the rotation angle of two Magnetic Field Source uniquely can be determined by exclusive method.For simplifying problem, the rotary search scope of Magnetic Field Source is limited to 180 ° by the present invention.
The key that the present invention improves locating speed is, according to the Magnetic Induction Density Distribution feature that rotary magnetic field source produces, only gathers the magnetic induction density signal of four angles differing 45 ° successively, just can determine the anglec of rotation of magnetic induction density maximal value.
The rotating magnetic field fast tracking method measured based on 4 that the present invention proposes, concrete steps are:
First, carry out data acquisition, Magnetic Field Source, in 180 ° of hunting zones, carries out rotation sweep with 45 ° of step-lengths (step-length i.e. each angle rotated);
Often rotate 45 ° of Magnetic Sensors and gather magnetic induction density data; Then carry out packet, according to the size of four data collected, according to certain rule, they are divided into two groups that lay respectively at magnetic induction density maximal value both sides;
Then, calculate the slope of two groups of data, and obtain two straight lines respectively through often organizing data 2 points;
Finally, because four points gathered are not necessarily symmetrical about maximal value, in order to reduce evaluated error, on the basis of asking for two slope absolute value averages, according to certain rule, obtain two straight lines are revised, make the angle corresponding to its intersection point consistent with the anglec of rotation corresponding to magnetic induction density maximal value.The method can be used for the non-iterative electromagnetic tracking system based on rotating magnetic field determination tracking target (Magnetic Sensor is fixed in tracking target) six-degree of freedom position and attitude.
In the present invention, described data acquisition refers to that Magnetic Field Source often rotates 45 °, the magnetic induction density of Magnetic Sensor collection once its position; Magnetic Field Source rotates within the scope of 180 °, then Magnetic Sensor can collect four magnetic induction density data, is designated as Ba, Bb, Bc, Bd successively.The magnetic induction density turning magnetic field due to plane internal rotation has 180 ° of periodicity, this rotary course closed circumference as shown in Figure 1 can be expressed.
In the present invention, the foundation of described packet is four induction level collected.As shown in Figure 2, due to 180 ° of periodicity of rotating magnetic field, in 180 ° of hunting zones, always there is a maximum and/or minimum value.And the maximal value of magnetic induction density maximal value always in four sampled points is nearest; And the minimum value of magnetic induction density minimum value always in four sampled points is nearest.Such four sampled points always can be divided into two groups (often organizing two points) being positioned at magnetic induction density maximal value both sides.Table 1 lists institute's likely situation give corresponding rule of classification of four the magnetic induction density values collected.Wherein the 1st institute's likely situation listing four magnetic induction density collected, 2nd arranges, and composition graphs 1 gives in often kind of situation between magnetic induction density maximal value location, and is divided into by collect four magnetic induction density accordingly two groups (table 1 the 3rd row) being positioned at magnetic induction density maximal value both sides.
The sampled point grouping of the various situations after table 1 four measurements
In the present invention, the determination principle of described magnetic induction density maximal value rotation angle is as shown in Figure 3: if each side get 2 symmetrical points in maximal value, then the intersection point one of 2 lines in left side and 2 lines in right side fixes on the maximal value direction of magnetic induction density curve, and the horizontal ordinate of this intersection point is the estimated value of magnetic induction density maximal value rotation angle.According to data acquisition and grouping step, without loss of generality, by the coordinate definition being positioned at four sampled points of magnetic induction density maximal value both sides in Fig. 3 be:
, then the slope of two straight lines is respectively by formula (1), and (2) calculate (wherein
):
（1）
（2）
In the present invention, correction and the maximum magnetic induction rotation angle of described two straight lines are determined, four the magnetic induction density values obtained for sampling are not necessarily symmetrical about maximal value, cause
absolute value not etc., cause the magnetic induction density maximal value finally obtained to produce error.First calculated by formula (3) for this reason
average:
（3）
Determine the method for straight line again according to four kinds of table 2, calculate maximum magnetic induction rotation angle (wherein by formula (4)-(7)
represent the rotation angle corresponding to magnetic induction density maximal value calculated according to * kind method, * gets 1,2,3,4).
The method of straight line determined by four kinds, table 2
（4）
（5）
（6）
（7）
Determine linear method equivalence for above-mentioned four kinds, can optionally wherein a kind ofly implement in real system.
The invention still further relates to the rotating magnetic field electromagnetic tracking system based on above-mentioned rotating magnetic field fast tracking method, its structure as shown in Figure 5.Comprise and to be fixed by two relative positions and known the Magnetic Field Source magnetic field source units 10, magnetic sensor unit 20 and controlled processing unit 30 3 part that form.Wherein, magnetic field source units 10 forms by around the coil on bar magnet, and bar magnet is fixed on can on the The Cloud Terrace of horizontal and vertical two Plane Rotations; Magnetic sensor unit 20 comprises magnetic sensor 21, signal conditioning circuit 22 and analog to digital conversion (ADC) circuit 23; Controlled processing unit 30 comprises; Data sampling and storage unit 31, controlling of sampling unit 32, Magnetic Field Source rotate/encourage control module 33, packet module 34, slope computing module 35, correcting module 36, bar magnet anglec of rotation determination module 37 corresponding to magnetic induction density maximal value; Rotate/encourage by Magnetic Field Source the rotation that control module 33 controls The Cloud Terrace, realize bar magnet (i.e. Magnetic Field Source 10) any sensing in space; In addition, Magnetic Field Source rotates/encourages control module 33 also for coil provides suitable exciting current.The magnetic induction density of three orthogonal directionss in locus, magnetic sensor 21 detecting sensor place; The signal that signal conditioning circuit 22 pairs of magnetic sensors 21 perceive carries out filtering and amplifies process, the simulating signal that signal conditioning circuit 22 exports, under the control of controlling of sampling unit 32, is converted to digital signal and delivers to controlled processing unit 30 and be further processed by analog to digital conversion circuit 23; The data that sensor exports by controlled processing unit 30 send into data sampling and storage unit 31 stores, and after controlling magnetic field source has been scanned, divided into groups by packet module 34 pairs of data, by slope computing module 35 slope calculations, carry out correcting process by correcting module 36, final basis obtains the angle corresponding to two straight-line intersections, and the bar magnet anglec of rotation determination module 37 corresponding to magnetic induction density maximal value obtains the bar magnet anglec of rotation corresponding to magnetic induction density maximal value.
Present system, described packet module 34 calculates (i.e. the calculating of table 1) for grouping of the present invention; Described slope computing module 35 calculates (i.e. the calculating of formula (1), (2)) for slope of the present invention; Described correcting module 36 is for corrected Calculation of the present invention (i.e. the calculating of formula (3)); Bar magnet anglec of rotation determination module 37 corresponding to described magnetic induction density maximal value is for the calculating (i.e. the calculating of formula (4)-(7)) of the bar magnet anglec of rotation corresponding to magnetic induction density maximal value.
The magnetic induction density maximal value orientation sensor produced to make rotating magnetic field, in classic method, Magnetic Field Source will search for (sampling should be carried out often to rotate a step) with little step-length (when step-length is 1 °, issuable angular error is 0.5 °) within the scope of 180 °, obtain 180 sampled datas could reliably realize, have a strong impact on the real-time of system location.The rotating magnetic field fast tracking method measured based on 4 that the present invention proposes, according to the feature of rotary magnetic field source planar magnetic induction distribution, by the mode of 45 ° of large step length searchings, rotation angle during only need 4 sampled datas just can determine magnetic induction density maximal value orientation sensor that rotating magnetic field produces, makes the location/tracking velocity of system greatly improve.
Accompanying drawing explanation
Fig. 1 is that 4 measured zone divide schematic diagram.
Fig. 2 be by the possible range of 4 sparse sampling determination maximal values or minimum value (T1 T2 be maximum range between T3, T3 T4 be minimum value scope between T1).
Fig. 3 is the magnetic induction density maximal value rotation angle determination schematic diagram measured based on 4.
Fig. 4 is the rotating magnetic field electromagnetic tracking system block diagram that the present invention is based on the rotating magnetic field fast tracking method that measure at 4.
Fig. 5 is the rotating magnetic field electromagnetic tracking system structural drawing that the present invention is based on the rotating magnetic field fast tracking method that measure at 4.
Fig. 6 is Magnetic Field Source scanner uni data acquisition flow figure.
Fig. 7 is the rotating magnetic field fast tracking method realization flow figure measured based on 4.
Embodiment
Below in conjunction with accompanying drawing 4 ~ 7, the invention will be further described.
Fig. 4 is the composition that the present invention is based on the applicable a kind of electromagnetic tracking system of rotating magnetic field fast tracking method that measure at 4, comprises magnetic field source units 10, magnetic sensor unit 20 and controlled processing unit 30.Wherein controlled processing unit 30 controlling magnetic field source 10 is searched for 180 ° of scope interscans; Magnetic Field Source 10 often rotates 45 °, and Magnetic Sensor 20 gathers magnetic induction density data, and stores data in controlled processing unit 30; Controlled processing unit 30 is by the rotation angle corresponding to the rotating magnetic field fast tracking method determination magnetic induction density data maximums based on 4 measurements.
Fig. 5 is the detailed diagram of magnetic orientation system.The Magnetic Field Source 10 of the present embodiment forms by around the coil on bar magnet, and bar magnet is fixed on can on the The Cloud Terrace of horizontal and vertical two Plane Rotations; Magnetic sensor unit 20 comprises magnetic sensor 21, signal conditioning circuit 22 and analog to digital conversion (ADC) circuit 23; Controlled processing unit 30 comprises; Data sampling and storage unit 31, controlling of sampling unit 32, Magnetic Field Source rotate/encourage control module 33, packet module 34, slope computing module 35, correcting module 36, bar magnet anglec of rotation determination module 37 corresponding to magnetic induction density maximal value; Rotate/encourage by Magnetic Field Source the rotation that control module 33 controls The Cloud Terrace, realize bar magnet (i.e. Magnetic Field Source 10) any sensing in space; In addition, Magnetic Field Source rotates/encourages control module 33 also for coil provides suitable exciting current.The magnetic induction density of three orthogonal directionss in locus, magnetic sensor 21 detecting sensor place; The signal that signal conditioning circuit 22 pairs of magnetic sensors 21 perceive carries out filtering and amplifies process, the simulating signal that signal conditioning circuit 22 exports, under the control of controlling of sampling unit 32, is converted to digital signal and delivers to controlled processing unit 30 and be further processed by analog to digital conversion circuit 23.The data that sensor exports store by controlled processing unit 30, and after controlling magnetic field source has been scanned, divided into groups by packet module 34 pairs of data, by slope computing module 35 slope calculations, carry out correcting process by correcting module 36, final basis obtains the angle corresponding to two straight-line intersections, and the bar magnet anglec of rotation determination module 37 corresponding to magnetic induction density maximal value obtains the bar magnet anglec of rotation corresponding to magnetic induction density maximal value.
Fig. 6 is Magnetic Field Source scanner uni data acquisition flow diagram, and concrete steps are:
Step 41: first, Magnetic Field Source is reset to initial position (now bar magnet points to and is defined as zero degree) by controlled processing unit;
Step 42: then, controlled processing unit controlling magnetic field source rotates 45° angle at surface level, and to determine that current excitation Magnetic Field Source coil produces magnetic field;
Step 43: magnetic sensor unit gathers the magnetic induction density of position and data is stored in the memory cell 30 of controlled processing unit;
Step 44: judged whether surface level scanning (the present embodiment Magnetic Field Source sweep limit is decided to be 180 °), if do not complete scanning, repeated said process, otherwise,
Step 45: complete one group of data acquisition, and by the magnetic induction density maximal value rotation angle fast determination method measured based on 4 shown in Fig. 7, determine the rotation angle corresponding to magnetic induction density maximal value on surface level; Magnetic Field Source is from this rotation angle afterwards, then carries out the data acquisition identical with surface level on the vertical plane.
Fig. 7 is the flow process diagram based on 4 rotating magnetic field fast tracking methods measured.Concrete steps are:
Step 51: collect four data:
Step 52: first, divides into groups according to table 1 to four data collected in data acquisition;
Step 53: then, connects two data often organized and obtains two straight lines, and calculate their slope (by formula (1), (2)) respectively;
Step 54: then, asks for the average (by formula (3)) of two straight slope absolute values, and corrects two straight lines according to the method 2 in table 2;
Step 55: last, due to two straight lines intersection point corresponding to angle consistent with the anglec of rotation corresponding to magnetic induction density maximal value, by formula
calculate the anglec of rotation corresponding to magnetic induction density maximal value.
Above; be only preferred embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, within the protection domain that all should be encompassed in invention.Therefore, with claims, protection scope of the present invention should require that the protection domain defined is as the criterion.
Claims (2)
1. the rotating magnetic field fast tracking method measured based on 4, wherein, rotating magnetic field electromagnetic tracking system comprises to be fixed by two relative positions and known the Magnetic Field Source magnetic field source units, magnetic sensor unit and controlled processing unit three part that form; Magnetic Field Source realizes any sensing of magnetic induction density maximal value by rotation sweep; Magnetic sensor is for gathering the magnetic induction density value of three orthogonal directionss and being obtained the size and Orientation of the magnetic induction density of Magnetic Sensor position by the mode of Vector modulation; Controlled processing unit is on the one hand for the solenoid forming Magnetic Field Source provides suitable excitation and the rotation sweep of Current Control Magnetic Field Source, the maximum magnetic induction that two Magnetic Field Source are produced finally points to Magnetic Sensor and tracking target, on the other hand, data magnetic sensor unit collected carry out process and calculated magnetic induction maximum of intensity point to Magnetic Sensor time rotation angle; It is characterized by the six-degree of freedom position and the attitude that are solved the next efficient tracking object of rotation angle of magnetic induction density maximal value by the sampled value of four spacing 45 °, concrete steps are:
(1) first, image data;
(2) then, by the packet collected, two groups that are positioned at magnetic induction density maximal value both sides are namely divided into;
(3) then, connect 2 points often organized respectively, matching obtains two straight lines, and calculates the slope of two straight lines;
(4) last, two straight lines that step (three) obtains are revised, the feature that the angle corresponding to the intersection point of two straight lines is consistent with magnetic induction density maximal value rotation angle, determine the rotation angle corresponding to magnetic induction density maximal value;
Step (one) described image data carries out rotation sweep by Magnetic Field Source with 45 ° of step-lengths, and sweep limit is 180 °;
Magnetic Field Source often rotates 45 °, the magnetic induction density signal of magnetic sensor collection once three orthogonal directionss of its locus, place, and this signal stores after analog to digital conversion; When Magnetic Field Source completes the scanning of a plane, four magnetic induction density data can be collected, be designated as: Ba, Bb, Bc, Bd;
Packet described in step (two), is the magnitude relationship according to 4 the data Ba collected, Bb, Bc, Bd, they is divided into two groups that are positioned at magnetic induction density maximal value both sides:
Fitting a straight line described in step (three) and slope calculate, and are that 2 points often organized after step (two) being divided into groups draw a straight line; Set up an office
be positioned at the side of magnetic induction density maximal value, point
be positioned at the opposite side of magnetic induction density maximal value, and according to
with
calculate the slope of these two straight lines respectively;
Corresponding to determination magnetic induction density maximal value described in step (four), rotation angle is on the basis of step (three), calculates the average of two straight slope absolute values
, two straight lines then obtained according to a pair step (three) of four kinds of methods of following table are revised:
Angle corresponding to revised two straight-line intersections and the rotation angle of magnetic induction density maximal value have approximate consistance, if use
represent the rotation angle corresponding to magnetic induction density maximal value calculated according to * kind method,
, then have:
。
2. based on an electromagnetic tracking system for rotating magnetic field fast tracking method according to claim 1, it is characterized in that: comprise and to be fixed by two relative positions and known the Magnetic Field Source magnetic field source units, magnetic sensor unit and controlled processing unit three part that form; Wherein, magnetic field source units forms by around the coil on bar magnet, and bar magnet is fixed on can on the The Cloud Terrace of horizontal and vertical two Plane Rotations; Magnetic sensor unit comprises magnetic sensor, signal conditioning circuit and analog to digital conversion circuit; Controlled processing unit comprises: data sampling and storage unit, controlling of sampling unit, Magnetic Field Source rotate/encourage control module, packet module, slope computing module, correcting module, bar magnet anglec of rotation determination module corresponding to magnetic induction density maximal value; Rotate/encourage by Magnetic Field Source the rotation that control module controls The Cloud Terrace, realize any sensing of bar magnet in space; In addition, Magnetic Field Source rotates/encourages control module also for coil provides suitable exciting current; The magnetic induction density of three orthogonal directionss in locus, magnetic sensor detecting sensor place; Signal conditioning circuit carries out filtering to the signal that magnetic sensor perceives and amplifies process, the simulating signal that signal conditioning circuit exports, under the control of controlling of sampling unit, is converted to digital signal and delivers to controlled processing unit and be further processed by analog to digital conversion circuit; The data that sensor exports by controlled processing unit send into data sampling and storage unit stores
,and after controlling magnetic field source has been scanned, by packet module, data divided into groups, by slope computing module slope calculations, carry out correcting process by correcting module, final basis obtains the angle corresponding to two straight-line intersections, and the bar magnet anglec of rotation determination module corresponding to magnetic induction density maximal value obtains the bar magnet anglec of rotation corresponding to magnetic induction density maximal value.
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