Research On The Method Of Navigation And Positioning Based On Rotating Magnetic Filed

Since the twenty-first Century,with the development of hardware technology,the research of navigation system has been taking inertial navigation as the core.In recent years,with the continuous expansion of navigation applications,the navigation and positioning methods have been higher requirements.The traditional inertial navigation technology can not be used for a long time because of the existence of error accumulation.In order to achieve a long time,penetration and anti-interference ability,a navigation and positioning method based on rotating magnetic field is proposed,and a magnetic beacon navigation system with a power solenoid as a magnetic source is constructed.Firstly,the magnetic field spatial distribution model of the electric solenoid is studied.On the basis of the existing ideal magnetic dipoles model,the equivalent magnetic dipole analysis is carried out on the electric solenoid based on the distance between the target distance and the distance of the magnetic source,and an algorithm for equivalent electric solenoid is proposed.Finally,the magnetic field distribution model of magnetic beacon is established.Then the navigation and positioning algorithm based on single magnetic beacon is put forward,and the design and construction of the magnetic beacon system are completed.The software and hardware design process of the system and the working mechanism of each module are expounded.On this basis,the actual system is used to verify the location algorithm,and the positioning accuracy is less than 5%.In the end,the error analysis of the magnetic beacon system and the positioning algorithm is made,and the error model of the solenoid is set up.The azimuth error of the magnetic medium and the non-metal shield is obtained by the experimental data.The experimental results show that the two are not affected by the orientation precision of the system,and the results are also passed through the experiment.The analysis of magnetic field intensity amplitude shows that it has no effect on the calculation of target distance,so it indicates that this medium will not cause errors in navigation and positioning of the system.In addition,in view of the electromagnetic interference and noise in the actual environment,a sine wave fitting method based on the combination of Fourier decomposition and least square estimation is proposed,which realizes the fitting and reconstruction of the original magnetic field intensity signal,and improves the positioning accuracy of the system.