Six-dimensional Position Electromagnetic Positioning System Based On Embedded System

Electromagnetic position method,compared to other position methods,can track the sixdimensional pose parameters of certain target rapidly with high precision and without sight block.It is widely used in navigation of indoor automatic cars,floating moving objects,surgical robot and so on.Positioning technology based on embedded system is attracting more and more attention.The demand for positioning system with high precision based on embedded system is increasingly urgent,especially for situations where high speed and accuracy of positioning is required.Electromagnetic position method is proposed in this paper,this method used magnetic coupling between coils to determine the target object position and orientation parameters,it is based primarily on the principle of electromagnetic induction and magnetic-dipole model to implement.First,the positioning system imposed sinusoidal alternating signal to the transmitter coil so that it generates an alternating electromagnetic field around.The receiver coil as the target in the system induces a corresponding induced electromotive force,the electromotive force is related to relative position and direction between the transmitting and receiving coils.Spatial distribution model of the electromagnetic field into the magnetic-dipole model,and receiving coil inductive electromotive force is related to its own six-dimensional position and orientation parameters,to form functional equations.Furthermore,through linear analytical algorithm of solving these equations,receiver coil location and orientation parameters can be obtained,completed the solution of targeting six-dimensional pose parameters.This paper completed the electromagnetic positioning system based on the embedded system,including high frequency electromagnetic signal transmission parts,high frequency electromagnetic signal transmitter parts,extraction and processing of the received signal parts and results display parts.Freescale embedded chip MK60 achieve the core control functions of positioning system include signal channel selection,signal amplification,signal extraction and processing.Signal transmitter generates a sinusoidal signal,through the power amplification and filtering circuits,incentive of three dimensional orthogonal transmitter coil generates an alternating electromagnetic field.Three-dimensional orthogonal coil generate electromagnetic signal,MK60 chip sampling and data processing for the receiving signal after signal amplifier,bandpass filtering and weak signal processing.Finally,positioning results is displayed on terminal.The embedded system which we designed realizes a fast algorithm that extract sinusoidal signal and calculate the amplitude and phase of frequency-varying sinusoidal signal.Also,it realizes detection and extraction of weak signal based on the superposition principle.Based on the above technology,we extend the range of positioning and improves the accuracy of this system.We built a calibrating and testing platform in space to calibrate the coupling coefficient of this positioning system,further to test and verify the positioning accuracy and real-time of the system;The results of simulation and experiment show that this positioning system can position and track the target within certain distance accurately in real time.