| In the field of modern navigation, GPS is currently the most widely used means of navigation and positioning. But in some special circumstances, the GPS signal is easily disturbed or blocked, especially in the underground, underwater, building,mountain, valley and other regions, GPS is hard to work normally. Under this background, it seems particularly important to use the other signal source for navigation and positioning. In this thesis, the author proposes a positioning and orienting method based on magnetic beacon, and provides a reliable solution for positioning when the satellite navigation is not available.The author establishes the model of magnetic dipoles for positioning and orientation by Biot-Savar law, and then analyses and compares two orienting and positioning methods based on single magnetic beacon and double magnetic beacons according to the characteristic that the vector stays the same in the rotating magnetic field.Both the software and the hardware system of magnetic beacon positioning system are designed and accomplished based on the idea of modularization. Systems are tested and verified. The author analyses some error factors that affect the positioning accuracy of magnetic beacon.The non-orthogonal magnetic beacon solenoid error model is established, and influences of different error angles on the intensity of magnetic field are discussed.The author also analyses influences of two positioning methods on the positioning accuracy when the magnetic damping medium exists between target location and magnetic beacon. A simulation verification is performed. As for the signal reconstruction, the author proposes a four-parameters sinusoidal signal reconstruction method which improves the identification precision of the sinusoidal signal.Finally, the author summarizes advantages and disadvantages of positioning and orientation system based on magnetic beacon that discussed in this thesis, and has a brief perspective for further studies. |
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