Research On Autonomous Navigation And Positioning Technology Based On Low Frequency Magnetic Beacons

The Global Navigation Satellite System(GNSS),represented by GPS and BDS,is currently the most widely used navigation and positioning technology.However,in some challenging environments,such as underground,underwater,canyon,cave and indoor,the use of GNSS signals leads to large positioning errors and even makes it impossible to achieve positioning.In this situation,the method of positioning by using a low frequency magnetic field generated by artificial magnetic signals has unique advantages.In this paper,the autonomous navigation and positioning technology based on low-frequency magnetic beacons is given.It provides an effective solution for achieving full-time,high-precision autonomous positioning in the scenario where GNSS technology alone has a great influence on positioning such as underwater tracking and positioning,underground biological exploration,and indoor robot navigation.Firstly,the article analyzes relevant research at home and abroad.At present,the positioning method based on magnetic beacons has gradually emerged,but the research results are relatively few.The distribution characteristics of magnetic field were studied,including Biot-Savart law,magnetic dipole and magnetic moment theorem.The working distances in different media were analyzed,and the positioning theory based on low frequency magnetic field was combed.And the positioning derivation based on single magnetic beacon model was given.Based on the centralized and discrete-based dual magnetic beacon positioning methods,the principle derivation and simulation analysis were given.The results show that the spacing-based dual magnetic beacon positioning method has better positioning effect.Then the factors affecting the positioning error were analyzed,including the signal-to-noise ratio,the relative deflection angle of the beacons and the sensor,and the influence of the magnetic attenuation medium on the positioning effect.The basic characteristics of the magnetic beacon-based positioning method were summarized,which lays a theoretical foundation for improving the positioning accuracy.Then,a 3D positioning method based on multi-magnetic beacon was given.First,the principle derivation and implementation steps of the method were given.The simulation experiments were designed and carried out,and the effectiveness of this positioning method was verified by experimental data analysis.The simulation experiment was designed and carried out,and the effectiveness of this positioning method was verified by experimental data analysis.At the same time,the simulation was carried out through simulation experiments.Then,using the experimental platform built,a series of field experiments were carried out on the 2D positioning method given in the paper,and the feasibility of the method was verified.The magnetic beacon localization method based on intelligent search strategy was studied.Firstly,the magnetic beacon localization method based on simulated annealing algorithm was given.The principle of simulated annealing algorithm was analyzed.The experimental operation steps were designed and verified by simulation experiments.Then,aiming at the problem that the simulated annealing algorithm has poor global search ability and the influence of parameters on the performance of the algorithm,a magnetic beacon localization method based on cuckoo search algorithm was proposed.The principle of the cuckoo search algorithm was analyzed and the experimental steps were given.Finally,the feasibility of the localization method based on the cuckoo search algorithm is verified by detailed simulation experiments.