多目标六自由度电磁定位关键技术研究

发布时间：2018-03-17 09:12

本文选题：六自由度电磁定位　切入点：多目标　出处：《吉林大学》2017年硕士论文　论文类型：学位论文

【摘要】：六自由度电磁定位技术通过检测磁感应强度信号,定位目标的位置参数及姿态参数,具有速度快、精度高、定位效果不受非金属物体遮挡影响等优点,在虚拟现实、单兵作战、战斗机辅助瞄准、管道机器人等领域具有重要的应用价值。研究多目标六自由度电磁定位系统信号提取和处理方法等关键技术,增加定位目标数量,提高定位精度和便携性,具有重要的理论和应用价值。本文针对基于交流信号实现的多目标六自由度电磁定位系统,从信号处理及装置实现两方面开展研究,主要内容如下:(1)研究六自由度电磁定位原理,包括基于时分复用的多目标定位方法、交流式电磁定位系统的磁场强度计算模型和磁感应强度信号模型、空间位置参数及姿态参数的解析算法。研究多目标六自由度电磁定位系统信号处理方法,采用时分复用实现多路信号接收,增加定位目标数量;采用基于全相位校正的电磁定位信号提取方法,抑制频偏对信号幅值参量估计的影响,提高定位精度。(2)设计多目标定位系统的信号接收单元电路,包括二级时分复用电路、放大电路、增益控制电路。研究自动增益控制方法,以定位距离作为比较参数判断增益大小,设计实验测试接收信号的衰减情况,确定增益控制系统的距离阈值。设计双目标六自由度电磁定位装置的软件程序,实现时分控制、增益控制、信号采集、信号提取、六自由度计算、上位机通信等功能。(3)搭建双目标六自由度电磁定位测试平台,进行定位速度、定位精度测试,评价装置性能,分析定位误差来源及占比,验证本文提出的多目标六自由度电磁定位系统实现方法的可行性。实验结果表明,本文设计的定位装置在室内环境下,定位精度可达毫米级,姿态角精度约2°。本文主要创新工作包括:(1)提出基于全相位校正的六自由度电磁定位信号提取方法,采用双窗全相位时移相位差法抑制频偏对信号幅值参量估计的影响,提高定位精度;利用信号的正交性、周期性,降低幅值参数求解矩阵的维度,简化了求解过程。(2)提出适用于多目标六自由度电磁定位系统的信号处理方法,包括信号接收、放大、采样和提取。在信号接收单元中,采用时分复用实现多路信号接收,增加定位目标数量;采用自动增益控制,提高放大电路输出的稳定性。本文系统地研究了多目标六自由度电磁定位信号处理及实现方法等关键技术,对开发具有自主知识产权的定位装置有一定的参考价值。
[Abstract]:The six-degree-of-freedom electromagnetic positioning technology can detect the signal of magnetic induction intensity, position parameters and attitude parameters of the target. It has the advantages of high speed, high precision and no influence of non-metallic objects. The research on the signal extraction and processing methods of multi-target six-degree-of-freedom electromagnetic positioning system can increase the number of targets and improve the positioning accuracy and portability. It has important theoretical and practical value. In this paper, the multi-target six-degree-of-freedom electromagnetic positioning system based on AC signal is studied from two aspects: signal processing and device realization. The main contents are as follows: (1) the principle of six degrees of freedom electromagnetic positioning is studied, including the multi-target localization method based on time division multiplexing, the magnetic field intensity calculation model and the magnetic induction intensity signal model of AC electromagnetic positioning system. The signal processing method of multi-target six-degree-of-freedom electromagnetic positioning system is studied. Time division multiplexing (TDM) is used to realize multi-channel signal reception and to increase the number of positioning targets. An all-phase correction based electromagnetic positioning signal extraction method is adopted to suppress the influence of frequency offset on the estimation of signal amplitude parameters, and to improve the positioning accuracy. The signal receiving unit circuit of the multi-target positioning system is designed, including the two-stage time-division multiplexing circuit. This paper studies the method of automatic gain control, uses the location distance as the comparison parameter to judge the gain, and designs the experiment to test the attenuation of the received signal. The distance threshold of gain control system is determined. The software program of electromagnetic positioning device with two targets and six degrees of freedom is designed to realize time division control, gain control, signal acquisition, signal extraction, and calculation of six degrees of freedom. The function of upper computer communication is to set up a test platform for six degrees of freedom electromagnetic positioning of two targets, to carry out positioning speed, positioning precision test, to evaluate the performance of the device, to analyze the source and proportion of positioning error, The feasibility of the method proposed in this paper is verified. The experimental results show that the positioning accuracy of the device designed in this paper can reach millimeter level in the indoor environment. The precision of attitude angle is about 2 掳. The main innovation work in this paper includes: (1) A six-degree-of-freedom electromagnetic positioning signal extraction method based on all-phase correction is proposed. The two-window all-phase phase-shift method is used to suppress the influence of frequency offset on the estimation of signal amplitude parameters. Using the orthogonality and periodicity of the signal to reduce the dimension of the matrix and simplify the solution process, a signal processing method, including signal reception, is proposed for the multi-target six-degree-of-freedom electromagnetic positioning system. Amplification, sampling and extraction. In the signal receiving unit, time division multiplexing (TDM) is used to realize multi-channel signal reception, to increase the number of location targets, and to adopt automatic gain control, In order to improve the output stability of amplifying circuits, this paper systematically studies the key technologies such as the processing and realization of multi-target six-degree-of-freedom electromagnetic positioning signal, which has certain reference value for the development of positioning devices with independent intellectual property rights.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN911.7;TP311.52

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