本文選題：六自由度電磁定位　切入點(diǎn)：多目標(biāo)　出處：《吉林大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：六自由度電磁定位技術(shù)通過檢測磁感應(yīng)強(qiáng)度信號,定位目標(biāo)的位置參數(shù)及姿態(tài)參數(shù),具有速度快、精度高、定位效果不受非金屬物體遮擋影響等優(yōu)點(diǎn),在虛擬現(xiàn)實(shí)、單兵作戰(zhàn)、戰(zhàn)斗機(jī)輔助瞄準(zhǔn)、管道機(jī)器人等領(lǐng)域具有重要的應(yīng)用價(jià)值。研究多目標(biāo)六自由度電磁定位系統(tǒng)信號提取和處理方法等關(guān)鍵技術(shù),增加定位目標(biāo)數(shù)量,提高定位精度和便攜性,具有重要的理論和應(yīng)用價(jià)值。本文針對基于交流信號實(shí)現(xiàn)的多目標(biāo)六自由度電磁定位系統(tǒng),從信號處理及裝置實(shí)現(xiàn)兩方面開展研究,主要內(nèi)容如下:(1)研究六自由度電磁定位原理,包括基于時(shí)分復(fù)用的多目標(biāo)定位方法、交流式電磁定位系統(tǒng)的磁場強(qiáng)度計(jì)算模型和磁感應(yīng)強(qiáng)度信號模型、空間位置參數(shù)及姿態(tài)參數(shù)的解析算法。研究多目標(biāo)六自由度電磁定位系統(tǒng)信號處理方法,采用時(shí)分復(fù)用實(shí)現(xiàn)多路信號接收,增加定位目標(biāo)數(shù)量;采用基于全相位校正的電磁定位信號提取方法,抑制頻偏對信號幅值參量估計(jì)的影響,提高定位精度。(2)設(shè)計(jì)多目標(biāo)定位系統(tǒng)的信號接收單元電路,包括二級時(shí)分復(fù)用電路、放大電路、增益控制電路。研究自動(dòng)增益控制方法,以定位距離作為比較參數(shù)判斷增益大小,設(shè)計(jì)實(shí)驗(yàn)測試接收信號的衰減情況,確定增益控制系統(tǒng)的距離閾值。設(shè)計(jì)雙目標(biāo)六自由度電磁定位裝置的軟件程序,實(shí)現(xiàn)時(shí)分控制、增益控制、信號采集、信號提取、六自由度計(jì)算、上位機(jī)通信等功能。(3)搭建雙目標(biāo)六自由度電磁定位測試平臺(tái),進(jìn)行定位速度、定位精度測試,評價(jià)裝置性能,分析定位誤差來源及占比,驗(yàn)證本文提出的多目標(biāo)六自由度電磁定位系統(tǒng)實(shí)現(xiàn)方法的可行性。實(shí)驗(yàn)結(jié)果表明,本文設(shè)計(jì)的定位裝置在室內(nèi)環(huán)境下,定位精度可達(dá)毫米級,姿態(tài)角精度約2°。本文主要?jiǎng)?chuàng)新工作包括:(1)提出基于全相位校正的六自由度電磁定位信號提取方法,采用雙窗全相位時(shí)移相位差法抑制頻偏對信號幅值參量估計(jì)的影響,提高定位精度;利用信號的正交性、周期性,降低幅值參數(shù)求解矩陣的維度,簡化了求解過程。(2)提出適用于多目標(biāo)六自由度電磁定位系統(tǒng)的信號處理方法,包括信號接收、放大、采樣和提取。在信號接收單元中,采用時(shí)分復(fù)用實(shí)現(xiàn)多路信號接收,增加定位目標(biāo)數(shù)量;采用自動(dòng)增益控制,提高放大電路輸出的穩(wěn)定性。本文系統(tǒng)地研究了多目標(biāo)六自由度電磁定位信號處理及實(shí)現(xiàn)方法等關(guān)鍵技術(shù),對開發(fā)具有自主知識產(chǎn)權(quán)的定位裝置有一定的參考價(jià)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 擄. 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.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TN911.7;TP311.52

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